Humanoid

Author : Dragomir N. Nenchev,Atsushi Konno,Teppei Tsujita
Publisher : Butterworth-Heinemann
Page : 510 pages
File Size : 47,8 Mb
Release : 2018-11-21
Category : Technology & Engineering
ISBN : 9780128045824

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Humanoid Robots by Dragomir N. Nenchev,Atsushi Konno,Teppei Tsujita Pdf

Humanoid Robots: Modeling and Control provides systematic presentation of the models used in the analysis, design and control of humanoid robots. The book starts with a historical overview of the field, a summary of the current state of the art achievements and an outline of the related fields of research. It moves on to explain the theoretical foundations in terms of kinematic, kineto-static and dynamic relations. Further on, a detailed overview of biped balance control approaches is presented. Models and control algorithms for cooperative object manipulation with a multi-finger hand, a dual-arm and a multi-robot system are also discussed. One of the chapters is devoted to selected topics from the area of motion generation and control and their applications. The final chapter focuses on simulation environments, specifically on the step-by-step design of a simulator using the Matlab® environment and tools. This book will benefit readers with an advanced level of understanding of robotics, mechanics and control such as graduate students, academic and industrial researchers and professional engineers. Researchers in the related fields of multi-legged robots, biomechanics, physical therapy and physics-based computer animation of articulated figures can also benefit from the models and computational algorithms presented in the book. Provides a firm theoretical basis for modelling and control algorithm design Gives a systematic presentation of models and control algorithms Contains numerous implementation examples demonstrated with 43 video clips

Author : Armando Carlos De Pina Filho
Publisher : BoD – Books on Demand
Page : 593 pages
File Size : 55,9 Mb
Release : 2007-06-01
Category : Technology & Engineering
ISBN : 9783902613004

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Humanoid Robots by Armando Carlos De Pina Filho Pdf

For many years, the human being has been trying, in all ways, to recreate the complex mechanisms that form the human body. Such task is extremely complicated and the results are not totally satisfactory. However, with increasing technological advances based on theoretical and experimental researches, man gets, in a way, to copy or to imitate some systems of the human body. These researches not only intended to create humanoid robots, great part of them constituting autonomous systems, but also, in some way, to offer a higher knowledge of the systems that form the human body, objectifying possible applications in the technology of rehabilitation of human beings, gathering in a whole studies related not only to Robotics, but also to Biomechanics, Biomimmetics, Cybernetics, among other areas. This book presents a series of researches inspired by this ideal, carried through by various researchers worldwide, looking for to analyze and to discuss diverse subjects related to humanoid robots. The presented contributions explore aspects about robotic hands, learning, language, vision and locomotion.

Author : Matthias Hackel
Publisher : BoD – Books on Demand
Page : 654 pages
File Size : 51,8 Mb
Release : 2007-06-01
Category : Technology & Engineering
ISBN : 9783902613073

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Humanoid Robots by Matthias Hackel Pdf

In this book the variety of humanoid robotic research can be obtained. This book is divided in four parts: Hardware Development: Components and Systems, Biped Motion: Walking, Running and Self-orientation, Sensing the Environment: Acquisition, Data Processing and Control and Mind Organisation: Learning and Interaction. The first part of the book deals with remarkable hardware developments, whereby complete humanoid robotic systems are as well described as partial solutions. In the second part diverse results around the biped motion of humanoid robots are presented. The autonomous, efficient and adaptive two-legged walking is one of the main challenge in humanoid robotics. The two-legged walking will enable humanoid robots to enter our environment without rearrangement. Developments in the field of visual sensors, data acquisition, processing and control are to be observed in third part of the book. In the fourth part some "mind building" and communication technologies are presented.

Author : Malachy Eaton
Publisher : Springer
Page : 151 pages
File Size : 42,7 Mb
Release : 2015-02-02
Category : Computers
ISBN : 9783662445990

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Evolutionary Humanoid Robotics by Malachy Eaton Pdf

This book examines how two distinct strands of research on autonomous robots, evolutionary robotics and humanoid robot research, are converging. The book will be valuable for researchers and postgraduate students working in the areas of evolutionary robotics and bio-inspired computing.

Author : Cengiz Kahraman,Eda Bolturk
Publisher : Springer Nature
Page : 310 pages
File Size : 49,7 Mb
Release : 2021-04-04
Category : Technology & Engineering
ISBN : 9783030671631

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Toward Humanoid Robots: The Role of Fuzzy Sets by Cengiz Kahraman,Eda Bolturk Pdf

This book offers a comprehensive reference guide for modeling humanoid robots using intelligent and fuzzy systems. It provides readers with the necessary intelligent and fuzzy tools for controlling humanoid robots by incomplete, vague, and imprecise information or insufficient data, where classical modeling approaches cannot be applied. The respective chapters, written by prominent researchers, explain a wealth of both basic and advanced concepts including fuzzy control, metaheuristic-based control, neutrosophic control, etc. To foster reader comprehension, all chapters include relevant numerical examples or case studies. Taken together, they form an excellent reference guide for researchers, lecturers, and postgraduate students pursuing research on humanoid robots. Moreover, by extending all the main aspects of humanoid robots to its intelligent and fuzzy counterparts, the book presents a dynamic snapshot of the field that is expected to stimulate new directions, ideas, and developments.

Author : Shuuji Kajita,Hirohisa Hirukawa,Kensuke Harada,Kazuhito Yokoi
Publisher : Springer
Page : 232 pages
File Size : 54,5 Mb
Release : 2014-07-15
Category : Technology & Engineering
ISBN : 9783642545368

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Introduction to Humanoid Robotics by Shuuji Kajita,Hirohisa Hirukawa,Kensuke Harada,Kazuhito Yokoi Pdf

This book is for researchers, engineers, and students who are willing to understand how humanoid robots move and be controlled. The book starts with an overview of the humanoid robotics research history and state of the art. Then it explains the required mathematics and physics such as kinematics of multi-body system, Zero-Moment Point (ZMP) and its relationship with body motion. Biped walking control is discussed in depth, since it is one of the main interests of humanoid robotics. Various topics of the whole body motion generation are also discussed. Finally multi-body dynamics is presented to simulate the complete dynamic behavior of a humanoid robot. Throughout the book, Matlab codes are shown to test the algorithms and to help the reader ́s understanding.

Author : Matthew Spenko,Stephen Buerger,Karl Iagnemma
Publisher : Springer
Page : 684 pages
File Size : 55,9 Mb
Release : 2018-04-09
Category : Technology & Engineering
ISBN : 9783319746661

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The DARPA Robotics Challenge Finals: Humanoid Robots To The Rescue by Matthew Spenko,Stephen Buerger,Karl Iagnemma Pdf

The DARPA Robotics Challenge was a robotics competition that took place in Pomona, California USA in June 2015. The competition was the culmination of 33 months of demanding work by 23 teams and required humanoid robots to perform challenging locomotion and manipulation tasks in a mock disaster site. The challenge was conceived as a response to the Japanese Fukushima nuclear disaster of March 2011. The Fukushima disaster was seen as an ideal candidate for robotic intervention since the risk of exposure to radiation prevented human responders from accessing the site. This volume, edited by Matthew Spenko, Stephen Buerger, and Karl Iagnemma, includes commentary by the organizers, overall analysis of the results, and documentation of the technical efforts of 15 competing teams. The book provides an important record of the successes and failures involved in the DARPA Robotics Challenge and provides guidance for future needs to be addressed by policy makers, funding agencies, and the robotics research community. Many of the papers in this volume were initially published in a series of special issues of the Journal of Field Robotics. We have proudly collected versions of those papers in this STAR volume.

Author : Riadh Zaier
Publisher : BoD – Books on Demand
Page : 313 pages
File Size : 49,7 Mb
Release : 2012-01-20
Category : Technology & Engineering
ISBN : 9789533079516

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The Future of Humanoid Robots by Riadh Zaier Pdf

This book provides state of the art scientific and engineering research findings and developments in the field of humanoid robotics and its applications. It is expected that humanoids will change the way we interact with machines, and will have the ability to blend perfectly into an environment already designed for humans. The book contains chapters that aim to discover the future abilities of humanoid robots by presenting a variety of integrated research in various scientific and engineering fields, such as locomotion, perception, adaptive behavior, human-robot interaction, neuroscience and machine learning. The book is designed to be accessible and practical, with an emphasis on useful information to those working in the fields of robotics, cognitive science, artificial intelligence, computational methods and other fields of science directly or indirectly related to the development and usage of future humanoid robots. The editor of the book has extensive R

Author : Gordon Cheng
Publisher : CRC Press
Page : 288 pages
File Size : 51,6 Mb
Release : 2014-12-19
Category : Medical
ISBN : 9781420093674

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Humanoid Robotics and Neuroscience by Gordon Cheng Pdf

Humanoid robots are highly sophisticated machines equipped with human-like sensory and motor capabilities. Today we are on the verge of a new era of rapid transformations in both science and engineering-one that brings together technological advancements in a way that will accelerate both neuroscience and robotics. Humanoid Robotics and Neuroscienc

Author : Adam Spiers,Said Ghani Khan,Guido Herrmann
Publisher : Springer
Page : 276 pages
File Size : 45,5 Mb
Release : 2016-05-19
Category : Technology & Engineering
ISBN : 9783319301600

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Biologically Inspired Control of Humanoid Robot Arms by Adam Spiers,Said Ghani Khan,Guido Herrmann Pdf

This book investigates a biologically inspired method of robot arm control, developed with the objective of synthesising human-like motion dynamically, using nonlinear, robust and adaptive control techniques in practical robot systems. The control method caters to a rising interest in humanoid robots and the need for appropriate control schemes to match these systems. Unlike the classic kinematic schemes used in industrial manipulators, the dynamic approaches proposed here promote human-like motion with better exploitation of the robot’s physical structure. This also benefits human-robot interaction. The control schemes proposed in this book are inspired by a wealth of human-motion literature that indicates the drivers of motion to be dynamic, model-based and optimal. Such considerations lend themselves nicely to achievement via nonlinear control techniques without the necessity for extensive and complex biological models. The operational-space method of robot control forms the basis of many of the techniques investigated in this book. The method includes attractive features such as the decoupling of motion into task and posture components. Various developments are made in each of these elements. Simple cost functions inspired by biomechanical “effort” and “discomfort” generate realistic posture motion. Sliding-mode techniques overcome robustness shortcomings for practical implementation. Arm compliance is achieved via a method of model-free adaptive control that also deals with actuator saturation via anti-windup compensation. A neural-network-centered learning-by-observation scheme generates new task motions, based on motion-capture data recorded from human volunteers. In other parts of the book, motion capture is used to test theories of human movement. All developed controllers are applied to the reaching motion of a humanoid robot arm and are demonstrated to be practically realisable. This book is designed to be of interest to those wishing to achieve dynamics-based human-like robot-arm motion in academic research, advanced study or certain industrial environments. The book provides motivations, extensive reviews, research results and detailed explanations. It is not only suited to practising control engineers, but also applicable for general roboticists who wish to develop control systems expertise in this area.

Author : David Israel González Aguirre
Publisher : Springer
Page : 220 pages
File Size : 46,7 Mb
Release : 2018-09-01
Category : Technology & Engineering
ISBN : 9783319978413

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Visual Perception for Humanoid Robots by David Israel González Aguirre Pdf

This book provides an overview of model-based environmental visual perception for humanoid robots. The visual perception of a humanoid robot creates a bidirectional bridge connecting sensor signals with internal representations of environmental objects. The objective of such perception systems is to answer two fundamental questions: What & where is it? To answer these questions using a sensor-to-representation bridge, coordinated processes are conducted to extract and exploit cues matching robot’s mental representations to physical entities. These include sensor & actuator modeling, calibration, filtering, and feature extraction for state estimation. This book discusses the following topics in depth: • Active Sensing: Robust probabilistic methods for optimal, high dynamic range image acquisition are suitable for use with inexpensive cameras. This enables ideal sensing in arbitrary environmental conditions encountered in human-centric spaces. The book quantitatively shows the importance of equipping robots with dependable visual sensing. • Feature Extraction & Recognition: Parameter-free, edge extraction methods based on structural graphs enable the representation of geometric primitives effectively and efficiently. This is done by eccentricity segmentation providing excellent recognition even on noisy & low-resolution images. Stereoscopic vision, Euclidean metric and graph-shape descriptors are shown to be powerful mechanisms for difficult recognition tasks. • Global Self-Localization & Depth Uncertainty Learning: Simultaneous feature matching for global localization and 6D self-pose estimation are addressed by a novel geometric and probabilistic concept using intersection of Gaussian spheres. The path from intuition to the closed-form optimal solution determining the robot location is described, including a supervised learning method for uncertainty depth modeling based on extensive ground-truth training data from a motion capture system. The methods and experiments are presented in self-contained chapters with comparisons and the state of the art. The algorithms were implemented and empirically evaluated on two humanoid robots: ARMAR III-A & B. The excellent robustness, performance and derived results received an award at the IEEE conference on humanoid robots and the contributions have been utilized for numerous visual manipulation tasks with demonstration at distinguished venues such as ICRA, CeBIT, IAS, and Automatica.

Author : Kensuke Harada,Eiichi Yoshida,Kazuhito Yokoi
Publisher : Springer Science & Business Media
Page : 320 pages
File Size : 45,9 Mb
Release : 2010-08-12
Category : Technology & Engineering
ISBN : 9781849962209

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Motion Planning for Humanoid Robots by Kensuke Harada,Eiichi Yoshida,Kazuhito Yokoi Pdf

Research on humanoid robots has been mostly with the aim of developing robots that can replace humans in the performance of certain tasks. Motion planning for these robots can be quite difficult, due to their complex kinematics, dynamics and environment. It is consequently one of the key research topics in humanoid robotics research and the last few years have witnessed considerable progress in the field. Motion Planning for Humanoid Robots surveys the remarkable recent advancement in both the theoretical and the practical aspects of humanoid motion planning. Various motion planning frameworks are presented in Motion Planning for Humanoid Robots, including one for skill coordination and learning, and one for manipulating and grasping tasks. The problem of planning sequences of contacts that support acyclic motion in a highly constrained environment is addressed and a motion planner that enables a humanoid robot to push an object to a desired location on a cluttered table is described. The main areas of interest include: • whole body motion planning, • task planning, • biped gait planning, and • sensor feedback for motion planning. Torque-level control of multi-contact behavior, autonomous manipulation of moving obstacles, and movement control and planning architecture are also covered. Motion Planning for Humanoid Robots will help readers to understand the current research on humanoid motion planning. It is written for industrial engineers, advanced undergraduate and postgraduate students.

Author : Jesus Hamilton Ortiz,Ramana Vinjamuri
Publisher : BoD – Books on Demand
Page : 184 pages
File Size : 55,8 Mb
Release : 2021-09-29
Category : Technology & Engineering
ISBN : 9781839687396

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Collaborative and Humanoid Robots by Jesus Hamilton Ortiz,Ramana Vinjamuri Pdf

Collaborative and Humanoid Robots guides readers through the fundamentals and state-of-the-art concepts and future expectations of robotics. It showcases interesting research topics on robots and cobots by researchers, industry practitioners, and academics. Divided into two sections on “Collaborative Robots” and “Humanoid Robots,” this book includes surveys of recent publications that investigative the interaction between humanoid robots and humans; safe adaptive trajectory tracking control of robots; 3D printed, self-learning robots; robot trajectory, guidance, and control; social robots; Tiny Blind assistive humanoid robots; and more.

Author : Bernd Henze
Publisher : Springer Nature
Page : 209 pages
File Size : 47,5 Mb
Release : 2021-11-03
Category : Technology & Engineering
ISBN : 9783030872120

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Whole-Body Control for Multi-Contact Balancing of Humanoid Robots by Bernd Henze Pdf

This book aims at providing algorithms for balance control of legged, torque-controlled humanoid robots. A humanoid robot normally uses the feet for locomotion. This paradigm is extended by addressing the challenge of multi-contact balancing, which allows a humanoid robot to exploit an arbitrary number of contacts for support. Using multiple contacts increases the size of the support polygon, which in turn leads to an increased robustness of the stance and to an increased kinematic workspace of the robot. Both are important features for facilitating a transition of humanoid robots from research laboratories to real-world applications, where they are confronted with multiple challenging scenarios, such as climbing stairs and ladders, traversing debris, handling heavy loads, or working in confined spaces. The distribution of forces and torques among the multiple contacts is a challenging aspect of the problem, which arises from the closed kinematic chain given by the robot and its environment.

Author : Lorenzo Natale,Tamim Asfour,Fumio Kanehiro,Nikolaus Vahrenkamp
Publisher : Frontiers Media SA
Page : 164 pages
File Size : 52,9 Mb
Release : 2018-10-11
Category : Electronic
ISBN : 9782889455904

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Software Architectures for Humanoid Robotics by Lorenzo Natale,Tamim Asfour,Fumio Kanehiro,Nikolaus Vahrenkamp Pdf