We proposed in this chapter the application of a collection of learning algorithms to solve a broad scope of problems. Several learning tools, such as Weighted-cluster modeling, Artificial Neural Networks, Nearest Neighbor, Hybrid Markov Chains, Geometric Hashing, Receptive Fiel…
In this chapter, we introduced the researches on energy-efficient walking of the biped robot for level ground form two viewpoints, one is semi-passive dynamic walking with only hip actuator using self-excited mechanism, another is active walking with actuators using optimal traj…
We proposed the `Sticky Hands' game as a novel interaction between human and robot. The game was implemented by combining a robot controller process and a learning algorithm with a.
Balance-Keeping Control of Upright Standing in Biped Human Beings and its Application for Stability Assessment.
In this chapter, we have described a control strategy based on both proprioceptive and exteroceptive information for autonomous biped robots. The first presented results, carried out on the basis of computer based simulation techniques, are very promising and prove that the prop…
In this paper a pivoting manipulation method has been presented to realize dexterous manipulation that enables precise displacement of heavy or bulky objects. Through this application, we believe that the application area of humanoid robot can be significantly extended. A sequen…
In this chapter, the trunk-twistless walk of contact sport athletes was investigated from a motion measurement. The antiphase pelvic rotation was applied to the fast walk of humanoid HRP-2. The walking action including the momentum compensation was.
In this study, we proposed an on-line RL method suitable for Quasi-PDW by a 2D biped robot, whose possession of knees makes the system unstable. Our study is underlaid by the perspective of low energy consumption and good correspondence to human walking. RL was applied not only …
This chapter presented a simulation method for simulating, and thereby clarifying, the development process of human locomotion that uses a model of an infant robot. The infant robot has many degrees of freedom. By making constraints and coordination for many DOF of using "intens…
by Yang Shen, De Xu, Min Tan, Ze-Min Jiang
Issues concerning with the approach-to-grasp movement of the humanoid robot are investigated in this chapter, including the calibration of the vision system, the visual measurement of rectangle objects and the visual control strategy for grasping.
The goals of our work were twofold. On the one hand, we studied how to introduce topdown effects into a bottom-up visual attention system. We have extended the classic system proposed by (Itti et al., 1998) with top-down inhibitory signals to drive attention towards the areas wi…
A Sensor-Based Gait Generation method was introduced and an experimental system was built. Then, the system was implemented onto an original humanoid robot to evaluate operations and to demonstrate effectiveness of the proposed method. Experimental results exhibited successful g…
In this chapter, an architecture that endows a robot with the ability to imitate has been described. This architecture has modules that provide action level and program level.
In this chapter, we presented our humanoid communication robot Fritz. Fritz communicates in an intuitive, multimodal way. He employs speech, an animated face, eyegaze, and gestures to interact with people. Depending on the audio-visual input, our robot shifts its attention betwe…
This chapter presented the affective communication model for humanoids that is designed to lead human robot interactions by recognizing human emotional status and expressing its emotion through multimodal emotion channels like a human, and behaves appropriately in response to hu…
In this paper, we discussed both a necessity and importance of gaze control mechanism on vision-based motion control of biped robots. Human eye structure and the eye movements, and brain motor control through a central nervous system were considered as an analogy with robotics. …
Our algorithm successfully demonstrates a novel global reactive footstep planning strategy with a human-like approach. Incremental graph expansion from simpler to more complex paths ensures formation of a simpler and more useful graph as compared to that formed by approaches suc…
The functioning of natural skeletal muscle is based on microscopic phenomena that no technology is at present able to reproduce. The notion of artificial muscle is as a consequence mainly founded on a macroscopic model of the skeletal muscle. The mimicking of both tension-length…
The same detected character of changes in meteorology, surface ozone, acidifying species and pine defoliation, which from 1994 to 2001 changed towards decreasing of air pollution and improving of forest health, since 2001 adversely, indicated possible causative relationships amo…
