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HANDSHAKE: HANDling System for Human Autonomous KEeping Int. J. Hum. Robot. (IF 1.394) Pub Date : 2021-04-09 Giovanni Gerardo Muscolo
This paper presents a novel biped-wheeled-wearable machine, named HANDSHAKE, and obtained by an evolution of two robots presented in other works: one flexible-wheeled leg and one biped-flexible-wheeled robot. A critical design analysis of these two robots helped the author to propose a novel machine able to revolutionize the lower body exoskeletons’ world. Conceptual and functional design, mechanical
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Theory of Robot Communication: I. The Medium is the Communication Partner Int. J. Hum. Robot. (IF 1.394) Pub Date : 2021-02-24 Johan F. Hoorn
When people use electronic media for their communication, Computer-Mediated Communication (CMC) theories describe the social and communicative aspects of people’s interpersonal transactions. When people interact via a remote-controlled robot, many of the CMC theses hold. Yet, what if people communicate with a conversation robot that is (partly) autonomous? Do the same theories apply? This paper discusses
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Theory of Robot Communication: II. Befriending a Robot Over Time Int. J. Hum. Robot. (IF 1.394) Pub Date : 2021-02-24 Johan F. Hoorn
In building on theories of Computer-Mediated Communication (CMC), Human–Robot Interaction, and Media Psychology (MΨ; i.e., Theory of Affective Bonding), this paper proposes an explanation of how over time, people experience the mediated or simulated aspects of the interaction with a social robot. In two simultaneously running loops, a more reflective process is balanced with a more affective process
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Humanoid Robots and Autistic Children: A Review on Technological Tools to Assess Social Attention and Engagement Int. J. Hum. Robot. (IF 1.394) Pub Date : 2021-01-25 Fady Alnajjar, Massimiliano Lorenzo Cappuccio, Omar Mubin, Rabiah Arshad, Suleman Shahid
Recent studies suggest that robot-based interventions are potentially effective in diagnosis and therapy of autism spectrum disorder (ASD), demonstrating that robots can improve the engagement abilities and attention in autistic children. While methodological approaches vary significantly in these studies and are not unified yet, researchers often develop similar solutions based on similar conceptual
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Speech Envelope Dynamics for Noise-Robust Auditory Scene Analysis in Robotics Int. J. Hum. Robot. (IF 1.394) Pub Date : 2021-01-21 Francesco Rea, Austin Kothig, Lukas Grasse, Matthew Tata
Humans make extensive use of auditory cues to interact with other humans, especially in challenging real-world acoustic environments. Multiple distinct acoustic events usually mix together in a complex auditory scene. The ability to separate and localize mixed sound in complex auditory scenes remains a demanding skill for binaural robots. In fact, binaural robots are required to disambiguate and interpret
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Singular Configurations and Underactuated Balance Control for Biped Robot with Point Contact Int. J. Hum. Robot. (IF 1.394) Pub Date : 2021-02-22 Jian Tian, Cheng Wei, Yang Zhao
This paper presents a hierarchical controller and extracts the singular configurations based on underactuated system and optimal distribution of forces. Unlike multi-legged and large-sole robots, biped robot with point contact cannot maintain a stable standing state, much less to adjust attitude and resist external impact. The support domain of point-foot bipedal robot degenerates into a line segment
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Improve Inter-day Hand Gesture Recognition Via Convolutional Neural Network-based Feature Fusion Int. J. Hum. Robot. (IF 1.394) Pub Date : 2021-01-25 Yinfeng Fang, Xuguang Zhang, Dalin Zhou, Honghai Liu
The learning of inter-day representation of electromyographic (EMG) signals across multiple days remains a challenging topic and not fully accommodated yet. This study aims to improve the inter-day hand motion classification accuracy via convolutional neural network (CNN)-based data feature fusion. An EMG database (ISRMyo-I) was recorded from six subjects on 10 days via a low density electrode setting
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Electrotactile Feedback-Based Muscle Fatigue Alleviation for Hand Manipulation Int. J. Hum. Robot. (IF 1.394) Pub Date : 2020-12-21 Kairu Li, Yu Zhou, Dalin Zhou, Jia Zeng, Yinfeng Fang, Junyou Yang, Honghai Liu
Tactile feedback is beneficial to improve the hand prosthesis performance, alleviate phantom pain, reduce muscle fatigue, etc. During the manipulation process, muscle fatigue not only causes discomfort to prosthesis users but also disturbs the surface electromyographic (sEMG)-based motion recognition, which significantly deteriorates the prosthesis functional performance. Efforts have been made to
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TELESAR VI: Telexistence Surrogate Anthropomorphic Robot VI Int. J. Hum. Robot. (IF 1.394) Pub Date : 2020-10-31 Susumu Tachi, Yasuyuki Inoue, Fumihiro Kato
Telexistence refers to the general technology that allows humans to experience the real-time sensation of being in another place, interacting with a remote environment, which may be real, virtual, or a combination of both. It also refers to an advanced type of teleoperation system that allows an operator behind the controls to perform remote tasks dexterously with the feeling of being in a surrogate
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RESTCub: A Language Independent Middleware for Cognitive Robot Int. J. Hum. Robot. (IF 1.394) Pub Date : 2020-09-23 Muhammad Ali Dildar, Muhammad Asif, Asma Kanwal, Maaz Bin Ahmad, Syed A. Gilani
Since the last few decades, research in the area of robotics technology has been emphasizing in the modeling and development of cognitive machines. A cognitive machine can have multiple cognitive capabilities to be programmed to make it artificially intelligent. Numerous cognitive modules interact to mimic human behavior in machines and result in such a heavily coupled system that a minor change in
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Nimbro-OP2X: Affordable Adult-Sized 3D-Printed Open-Source Humanoid Robot for Research Int. J. Hum. Robot. (IF 1.394) Pub Date : 2020-10-09 Grzegorz Ficht, Hafez Farazi, Diego Rodriguez, Dmytro Pavlichenko, Philipp Allgeuer, André Brandenburger, Sven Behnke
For several years, high development and production costs of humanoid robots restricted researchers interested in working in the field. To overcome this problem, several research groups have opted to work with simulated or smaller robots, whose acquisition costs are significantly lower. However, due to scale differences and imperfect simulation replicability, results may not be directly reproducible
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Autonomous Programming for General Purposes: Theory Int. J. Hum. Robot. (IF 1.394) Pub Date : 2020-09-14 Juyang Weng
The universal Turing Machine (TM) is a model for Von Neumann computers — general-purpose computers. A human brain, linked with its biological body, can inside-skull-autonomously learn a universal TM so that he acts as a general-purpose computer and writes a computer program for any practical purposes. It is unknown whether a robot can accomplish the same. This theoretical work shows how the Developmental
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A Nonlinear Optimal Control Approach for a Lower-Limb Robotic Exoskeleton Int. J. Hum. Robot. (IF 1.394) Pub Date : 2020-07-30 G. Rigatos, M. Abbaszadeh, J. Pomares, P. Wira
The use of robotic limb exoskeletons is growing fast either for rehabilitation purposes or in an aim to enhance human ability for lifting heavy objects or for walking for long distances without fatigue. The paper proposes a nonlinear optimal control approach for a lower-limb robotic exoskeleton. The method has been successfully tested so far on the control problem of several types of robotic manipulators
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Reach to Grasp Planning for a Synergy-Controlled Robotic Hand based on Pesudo-Distance Formulation Int. J. Hum. Robot. (IF 1.394) Pub Date : 2020-07-21 Zenghui Liu, Yuyang Chen, Xiangyang Zhu, Kai Xu
In the past several years, grasp analysis of multi-fingered robotic hands has been actively studied through the use of posture synergies. In these grasping planning algorithms, a formulated optimization is usually performed in the hand’s low-dimensional representation together with the hand’s position and orientation. The optimization terminates at a stable grasp, often after repeated trials with different
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Navigational Analysis of Multiple Humanoids Using a Hybridized Rule Base-Sugeno Fuzzy Controller Int. J. Hum. Robot. (IF 1.394) Pub Date : 2020-07-08 Manoj Kumar Muni, Dayal R. Parhi, Priyadarshi Biplab Kumar, Asita Kumar Rath
This paper describes a rule base-Sugeno fuzzy hybrid controller for path planning of single as well as multiple humanoid robots in cluttered environments. Initially, sensor outputs regarding the obstacle distances are used as inputs to the rule base model, and turning angle is obtained as the output. The rule-based analysis is used for training the fuzzy controller with membership functions. The output
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Dynamic Stabilization of NAO Humanoid Robot Based on Whole-Body Control with Simulated Annealing Int. J. Hum. Robot. (IF 1.394) Pub Date : 2020-06-08 Abhishek Kumar Kashyap, Dayal R Parhi, Saroj Kumar
The prime challenge in a humanoid robot is its stability on two feet due to the presence of an underactuated system. In this paper, the complete dynamics of the humanoid robot has been described in essence of torque calculation at the end effectors. Presence of various restraints in humanoid robot motion makes the task of stabilization an even humongous one. Therefore, to neutralize these constraints
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Classifying Obstacles and Exploiting Class Information for Humanoid Navigation Through Cluttered Environments Int. J. Hum. Robot. (IF 1.394) Pub Date : 2020-03-11 Peter Regier, Andres Milioto, Cyrill Stachniss, Maren Bennewitz
Humanoid robots are often supposed to share their workspace with humans and thus have to deal with objects used by humans in their everyday life. In this article, we present our novel approach to h...
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A Human Joint Torque Estimation Method for Elbow Exoskeleton Control Int. J. Hum. Robot. (IF 1.394) Pub Date : 2020-03-11 Xinwei Li, Su Liu, Ying Chang, Sujiao Li, Yuanjie Fan, Hongliu Yu
Exoskeleton for motion assistance has obtained more and more attention due to its advantages in rehabilitation and assistance for daily life. This research designed an estimation method of human joint torque by the kinetic human–machine interaction between the operator’s elbow joint torque and the output of exoskeleton. The human elbow joint torque estimation was obtained by back propagation (BP) neural
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Semi-Passive Walk and Active Walk by One Bipedal Robot: Mechanism, Control and Parameter Identification Int. J. Hum. Robot. (IF 1.394) Pub Date : 2020-02-18 Shintaro Noda, Fumihito Sugai, Kunio Kojima, Kim-Ngoc-Khanh Nguyen, Yohei Kakiuchi, Kei Okada, Masayuki Inaba
We developed a bipedal robot equipped with brake and clutch mechanisms to change the number of active and passive joints, thereby enabling various types of movements including normal active walking...
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Human-Inspired Representation of Object-Specific Grasps for Anthropomorphic Hands Int. J. Hum. Robot. (IF 1.394) Pub Date : 2020-02-18 Julia Starke, Christian Eichmann, Simon Ottenhaus, Tamim Asfour
The human hand is a complex, highly-articulated system, which has been the source of inspiration in designing humanoid robotic and prosthetic hands. Understanding the functionality of the human han...
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Mechatronic Design of ARC Humanoid Robot Open Platform: First Fully 3D Printed Kid-Sized Robot Int. J. Hum. Robot. (IF 1.394) Pub Date : 2020-02-17 Saeed Saeedvand, Hadi S. Aghdasi, Jacky Baltes
Although there are several popular and capable humanoid robot designs available in the kid-size range, they lack some important characteristics: affordability, being user-friendly, using a wide-angle camera, sufficient computational resources for advanced AI algorithms, and mechanical robustness and stability are the most important ones. Recent advances in 3D printer technology enables researchers
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Dexterity, Sensitivity and Versatility: An Under Actuated Robotic Hand with Mechanical Intelligence and Proprioceptive Actuation Int. J. Hum. Robot. (IF 1.394) Pub Date : 2020-02-13 Xiaoguang Zhang, Taoyuanmin Zhu, Itsui Yamayoshi, Dennis Hong
A three-finger under actuated robotic hand with dexterous force control and inherent compliance is developed and tested. A simplified biomimetic finger design is generated and applied with mechanic...
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Humanoid Robot RGB-D Slam in the Dynamic Human Environment Int. J. Hum. Robot. (IF 1.394) Pub Date : 2020-02-12 Tianwei Zhang, Yoshihiko Nakamura
Unsteady locomotion and the dynamic environment are two problems that block humanoid robots to apply visual Simultaneous Localization and Mapping (SLAM) approaches. Humans are often considered as m...
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Human-Like Gait Adaptation to Slippery Surfaces for the NAO Robot Wearing Instrumented Shoes Int. J. Hum. Robot. (IF 1.394) Pub Date : 2020-02-04 João P. Ferreira, Guilherme Franco, A. Paulo Coimbra, Manuel Crisóstomo
Gait development for bipedal/humanoid robots has been a field of study with a lot of attention for several years and is becoming increasingly important as robots slowly become part of our daily lives. Therefore, it is expectable that robots should adopt human-like behaviors in order to make their interactions with humans more natural and studies have been made involving robots that have a natural,
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A Benchmarking of DCM Based Architectures for Position, Velocity and Torque Controlled Humanoid Robots Int. J. Hum. Robot. (IF 1.394) Pub Date : 2020-02-01 Giulio Romualdi, Stefano Dafarra, Yue Hu, Prashanth Ramadoss, Francisco Javier Andrade Chavez, Silvio Traversaro, Daniele Pucci
This paper contributes towards the benchmarking of control architectures for bipedal robot locomotion. It considers architectures that are based on the Divergent Component of Motion (DCM) and composed of three main layers: trajectory optimization, simplified model control, and whole-body QP control layer. While the first two layers use simplified robot models, the whole-body QP control layer uses a
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Re-posing Objects Considering Bipedal Stability Constraints: An Approach for Stability Preservation during Humanoid Manipulation Int. J. Hum. Robot. (IF 1.394) Pub Date : 2020-01-31 Daniel Sánchez, Weiwei Wan, Fumio Kanehiro, Kensuke Harada
This paper presents a balance-centered planner for object re-posing. It uses Center-of-Mass (CoM) constraints to preserve robot stability and provides stable, IK-feasible, and collision-free upper-...
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Development of Applications for Humanoid Robots Using Multiple Platforms, Tools, and Cloud Data Sharing Int. J. Hum. Robot. (IF 1.394) Pub Date : 2020-01-30 Santiago Martínez, Juan Miguel Garcia-Haro, Concepcion Alicia Monje, Carlos Balaguer
This paper describes the procedure followed for using third-party tools and applications, avoiding the development of complex communication software modules for data sharing. A common practice in robotics is the use of middlewares to interconnect different software applications, hardware components, or even complete systems. It allows code and tool reuse minimizing the development effort. In this way
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BPNN-Based Real-Time Recognition of Locomotion Modes for an Active Pelvis Orthosis with Different Assistive Strategies Int. J. Hum. Robot. (IF 1.394) Pub Date : 2020-01-30 Cheng Gong, Dongfang Xu, Zhihao Zhou, Nicola Vitiello, Qining Wang
Real-time human intent recognition is important for controlling low-limb wearable robots. In this paper, to achieve continuous and precise recognition results on different terrains, we propose a re...
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Learning-Based Analysis of a New Wearable 3D Force System Data to Classify the Underlying Surface of a Walking Robot Int. J. Hum. Robot. (IF 1.394) Pub Date : 2020-01-30 Luís Almeida, Vítor Santos, João Ferreira
Biped humanoid robots that operate in real-world environments need to be able to physically recognize different floors to best adapt their gait. In this work, we describe the preparation of a dataset of contact forces obtained with eight force tactile sensors for determining the underlying surface of a walking robot. The data is acquired for four floors with different coefficient of friction, and different
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Combination of Hardware and Control to Reduce Humanoids Fall Damage Int. J. Hum. Robot. (IF 1.394) Pub Date : 2020-01-23 Xuechao Chen, Wenpeng Ding, Zhangguo Yu, Libo Meng, Marco Ceccarelli, Qiang Huang
Most existing motion control methods for humanoids aim at avoiding falling. However, the humanoid is generally an unstable system that cannot completely avoid falling and it is difficult to cope with the sudden fall of a robot. This paper designs a planning method of fall protection for humanoids according to the human falling motion. This method changes the impact position between the robot and ground
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Sequential Trajectory Generation for Dynamic Multi-Contact Locomotion Synchronizing Contact Int. J. Hum. Robot. (IF 1.394) Pub Date : 2020-01-22 Mitsuharu morisawa, Rafael Cisneros, Mehdi Benallegue, Iori Kumagai, Adrien Escande, Fumio Kanehiro
This paper proposes a new framework to generate 3D multi-contact locomotion with low computation cost. The proposed framework consists of (a) the derivation of the prospect centroidal dynamics by introducing a force distribution ratio, where it can be represented with a formulation similar to the inverted pendulum’s one, and (b) the development of a fast computation method for generating a 3D center-of-mass
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Plantar Tactile Feedback For Biped Balance and Locomotion on Unknown Terrain Int. J. Hum. Robot. (IF 1.394) Pub Date : 2020-01-15 J. Rogelio Guadarrama Olvera, Emmanuel Dean Leon, Florian Bergner, Gordon Cheng
This work introduces a new sensing system for biped robots based on plantar robot skin, which provides not only the resultant forces applied on the ankles but a precise shape of the pressure distri...
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Incremental Learning of an Open-Ended Collaborative Skill Library Int. J. Hum. Robot. (IF 1.394) Pub Date : 2020-01-10 Dorothea Koert, Susanne Trick, Marco Ewerton, Michael Lutter, Jan Peters
Intelligent assistive robots can potentially contribute to maintaining an elderly person’s independence by supporting everyday life activities. However, the number of different and personalized activities to be supported renders pre-programming of all respective robot behaviors prohibitively difficult. Instead, to cope with a continuous and potentially open-ended stream of cooperative tasks, new collaborative
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Automated Design of Robotic Hands for In-Hand Manipulation Tasks Int. J. Hum. Robot. (IF 1.394) Pub Date : 2020-01-08 Christopher Hazard, Nancy Pollard, Stelian Coros
Grasp planning and motion synthesis for dexterous manipulation tasks are traditionally done given a pre-existing kinematic model for the robotic hand. In this paper, we introduce a framework for automatically designing hand topologies best suited for manipulation tasks given high-level objectives as input. Our pipeline is capable of building custom hand designs around speci ̄c manipulation tasks based
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Design and Control of Foam Hands for Dexterous Manipulation Int. J. Hum. Robot. (IF 1.394) Pub Date : 2020-01-06 Dominik Bauer, Cornelia Bauer, Jonathan P. King, Daniele Moro, Kai-Hung Chang, Stelian Coros, Nancy Pollard
There has been great progress in soft robot design, manufacture, and control in recent years, and soft robots are a tool of choice for safe and robust handling of objects in conditions of uncertain...
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On-Site Locomotion Planning for a Humanoid Robot with Stable Whole-Body Collision Avoidance Motion Guided by Footsteps and Centroidal Trajectory Int. J. Hum. Robot. (IF 1.394) Pub Date : 2019-12-31 Iori Kumagai, Mitsuharu Morisawa, Shin’ichiro Nakaoka, Fumio Kanehiro
In this paper, we propose a locomotion planning framework for a humanoid robot with stable whole-body collision avoidance motion, which enables the robot to traverse an unknown narrow space on the ...
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Constrained Manipulability for Humanoid Robots using Velocity Polytopes Int. J. Hum. Robot. (IF 1.394) Pub Date : 2019-12-31 Philip Long, Taşkın Padır
Robot performance measures are important tools for quantifying the ability to carry out manipulation tasks. Generally, these measures examine the system’s kinematic transformations from configurati...
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Think Fast: Rapid Localization of Teleoperator Gaze in 360° Hosted Telepresence Int. J. Hum. Robot. (IF 1.394) Pub Date : 2019-12-27 Jingxin Zhang, Nicholas Katzakis, Fariba Mostajeran, Paul Lubos, Frank Steinicke
We evaluate the ability of locally present participants to localize an avatar head’s gaze direction rapidly in hosted telepresence. We performed a controlled user study to test two potential solutions to indicate a remote user’s gaze. We analyze the influence of the user’s distance to the avatar and display technique on localization accuracy. Furthermore, we examine the effect of the avatar head’s
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Capture Steps: Robust Walking for Humanoid Robots Int. J. Hum. Robot. (IF 1.394) Pub Date : 2019-12-01 Marcell Missura, Maren Bennewitz, Sven Behnke
Stable bipedal walking is a key prerequisite for humanoid robots to reach their potential of being versatile helpers in our everyday environments. Bipedal walking is, however, a complex motion that...
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Walking Stability of a Variable Length Inverted Pendulum Controlled with Virtual Constraints Int. J. Hum. Robot. (IF 1.394) Pub Date : 2019-12-01 Qiuyue Luo, Christine Chevallereau, Yannick Aoustin
Bipedal walking is a complex phenomenon that is not fully understood. Simplified models make it easier to highlight the important features. Here, the variable length inverted pendulum (VLIP) model ...
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External Force Observer for Small and Medium-sized Humanoid Robots Int. J. Hum. Robot. (IF 1.394) Pub Date : 2019-12-01 Louis Hawley, Rémy Rahem, Wael Suleiman
External force observer for humanoid robots has been widely studied in the literature. However, most of the proposed approaches generally rely on information from six-axis force/torque sensors, whi...
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Trait-based Module for Culturally-Competent Robots Int. J. Hum. Robot. (IF 1.394) Pub Date : 2019-12-01 Stefano Borgo, Enrico Blanzieri
Robots might not act according to human expectations if they cannot anticipate how people make sense of a situation and what behavior they consider appropriate in some given circumstances. In many ...
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Joint position control based on Fractional order PD and PI controllers for the arm of the humanoid robot TEO Int. J. Hum. Robot. (IF 1.394) Pub Date : 2019-12-01 Jorge Muñoz, Concepción A. Monje, Santiago Martínez de la Casa, Carlos Balaguer
This paper presents a control scheme for the humanoid robot TEO’s elbow joint based on a novel tuning method for fractional-order PD and PI controllers. Due to the graphical nature of the proposed ...
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Planning Grasping Motions for Humanoid Robots Int. J. Hum. Robot. (IF 1.394) Pub Date : 2019-12-01 Jan Rosell, Raúl Suárez, Néstor García, Muhayy Ud Din
This paper addresses the problem of obtaining the required motions for a humanoid robot to perform grasp actions trying to mimic the coordinated hand–arm movements humans do. The first step is the ...
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Extended State Observer Fuzzy-Approximation-Based Active Disturbances Rejection Control Method for Humanoid Robot with Trajectory Tracking Int. J. Hum. Robot. (IF 1.394) Pub Date : 2019-11-18 Keqiang Bai, Yao Chen, Zhigui Liu, Qiumeng Qian
This study aimed to propose an extended state observer fuzzy-approximation-based active disturbances rejection control (FAADRC) method for a dual-arm humanoid robotic system. The purpose of this control system was to provide disturbance estimation and compensation to enable the humanoid robots to track any continuous desired trajectory, even in the presence of environmental disturbances and parametric
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Model Predictive Control for Stable Walking Using the Divergent Component of Motion with Footstep Location and Yaw Adaptation Int. J. Hum. Robot. (IF 1.394) Pub Date : 2019-10-01 Robert J. Griffin, Alexander Leonessa
This paper presents an extension of previous model predictive control (MPC) schemes for dynamic walking to the stabilization of the time-varying divergent component-of-motion (DCM). In order to add...
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A New Impedance Controller Based on Nonlinear Model Reference Adaptive Control for Exoskeleton Systems Int. J. Hum. Robot. (IF 1.394) Pub Date : 2019-10-01 Kai Gui, U-Xuan Tan, Honghai Liu, Dingguo Zhang
Robotic exoskeletons are expected to show high compliance and low impedance for human–robot interactions (HRIs). Our study introduces a novel method based on nonlinear model reference adaptive cont...
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Humanoid Locomotion Control and Generation Based on Contact Wrench Cones Int. J. Hum. Robot. (IF 1.394) Pub Date : 2019-10-01 Yu Zheng, Shi Wen Liao, Katsu Yamane
This paper presents a general framework for locomotion control and generation of humanoid robots. Different from most of the existing work which uses the zero-moment point (2mp) to determine the fe...
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Standing and Stepping Control with Switching Rules for Bipedal Robots Based on Angular Momentum Around Ankle Int. J. Hum. Robot. (IF 1.394) Pub Date : 2019-10-01 Mitsunori Uemura, Hiroaki Hirai
In this paper, we propose standing and stepping control with switching rules based on angular momentum around the ankle for planar bipedal robots. A theoretical analysis under some approximation an...
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Sensorless External Force Detection Method for Robot ARM Based on Error Compensation Using BP Neural Network Int. J. Hum. Robot. (IF 1.394) Pub Date : 2019-10-01 Guoyu Zuo, Yongkang Qiu, Yuelei Liu
This paper proposes an external force detection method for humanoid robot arm without using joint torque sensors, which can detect the external force of the joint space in real time during the oper...
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Description and Analysis of Multi-fingered Hand Grasping with a New Finger-object Contact Model Int. J. Hum. Robot. (IF 1.394) Pub Date : 2019-10-01 Yin Zhang, Qiang Zhan, Chunhong Li
The proper description of finger-object contact state is critical to the analysis and control of multi-fingered hand grasping. At present, most studies assume that the finger-object contact state i...
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Design and Development of a Security and Guidance Robot for Employment in a Mall Int. J. Hum. Robot. (IF 1.394) Pub Date : 2019-10-01 Gabriele Trovato, Alexander Lopez, Renato Paredes, Diego Quiroz, Francisco Cuellar
Among the possible fields in human society in which robotics can be applied, the possibility of a robotic guard has been imagined since long time. Human guards usually perform a range of tasks in w...
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The Impact of the Electronic Skin Substrate on the Robotic Tactile Sensing Int. J. Hum. Robot. (IF 1.394) Pub Date : 2019-10-01 Chuhao Chen, Houde Liu, Xiaojun Zhu, Dezhi Wu, Yu Xie
The tactile sensing is of significant interest for coexisting-cooperative-cognitive robots (Tri-Co robots). In order to improve the tactile sensing performance of the robot via an electronic skin (...
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Intelligent Motion Planning and Control for Robotic Joints Using Bio-Inspired Spiking Neural Networks Int. J. Hum. Robot. (IF 1.394) Pub Date : 2019-09-27 Mircea Hulea, Adrian Burlacu, Constantin-Florin Caruntu
This paper details an intelligent motion planning and control approach for a one-degree of freedom joint of a robotic arm that can be used to implement anthropomorphic robotic hands. This intelligent control method is based on bio-inspired electronic neural networks and contractile artificial muscles implemented with shape memory alloy (SMA) actuators. The spiking neural network (SNN) includes several
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Epileptic Seizure Detection System Based on Multi-Domain Feature and Spike Feature of EEG Int. J. Hum. Robot. (IF 1.394) Pub Date : 2019-08-01 Duanpo Wu, Zimeng Wang, Hong Huang, Guangsheng Wang, Junbiao Liu, Chenyi Cai, Weifeng Xu
Epilepsy is caused by sudden abnormal discharges of neurons in the brain. This paper constructs an automatic seizure detection system, which combines the predicting result of multi-domain feature w...
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An Optimized Selection Method of Channel Numbers and Electrode Layouts for Hand Motions Recognition Int. J. Hum. Robot. (IF 1.394) Pub Date : 2019-08-01 Jiang Hua, Gongfa Li, Du Jiang, Haoyi Zhao, Jinxian Qi
The channel numbers and electrode layouts are usually determined empirically that would reduce robustness when acquiring surface electromyography (EMG) signals for prosthetic hand systems. It is ne...
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Simultaneous 3D Motion Detection, Long-Term Tracking and Model Reconstruction for Multi-Objects Int. J. Hum. Robot. (IF 1.394) Pub Date : 2019-08-01 Sheng Liu, Yangqing Wang, Fengji Dai, Jingxiang Yu
Motion detection and object tracking play important roles in unsupervised human–machine interaction systems. Nevertheless, the human–machine interaction would become invalid when the system fails t...
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Multi-Scale Collaborative Network for Human Pose Estimation Int. J. Hum. Robot. (IF 1.394) Pub Date : 2019-08-01 Chunsheng Guo, Jialuo Zhou, Wenlong Du, Xuguang Zhang
Human pose estimation is a fundamental but challenging task in computer vision. The estimation of human pose mainly depends on the global information of the keypoint type and the local information ...
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CNN-Based Facial Expression Recognition from Annotated RGB-D Images for Human-Robot Interaction Int. J. Hum. Robot. (IF 1.394) Pub Date : 2019-08-01 Jing Li, Yang Mi, Gongfa Li, Zhaojie Ju
Facial expression recognition has been widely used in human computer interaction (HCI) systems. Over the years, researchers have proposed different feature descriptors, implemented different classi...
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Facilitate sEMG-based Human-machine Interaction through Channel Optimisation Int. J. Hum. Robot. (IF 1.394) Pub Date : 2019-08-01 Zheng Wang, Yinfeng Fang, Gongfa Li, Honghai Liu
Electromyography (EMG) has been widely accepted to interact with prosthetic hands, but still limited to using few channels for the control of few degrees of freedom. The use of more channels can im...