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Mechatronics versus Robotics
Published in Marina Indri, Roberto Oboe, Mechatronics and Robotics, 2020
Humanoid robots, for long time present only in sci-fi movies and novels and more recently, as expensive demonstrators of technological achievements [19], are now making their actual appearance in real-world applications, where they are promising to bring a new form of bilateral and assistive interaction with humans. The envisioned applications of humanoid robots are countless, and they all have in common the fact that this type of robot will closely interact with humans in the same places where they live and work. Such environments, indeed, have stairs, doors, windows, etc. and are full of different objects to be grasped, manipulated, and moved around. Humanoid robots represent a great challenge for both science and technology, as their realization requires a deep understanding of essential aspects of biomechanics (at least those needed for the replication of some human ability, like walking, stair climbing, object grasping, perception, etc. [22]) and the deployment (and sometimes the development) of many different technologies for sensing and actuation [12]. Additionally, as humans, it is expected that humanoid robots will interact with their world in an adaptive way, learning by experience. The state of the art and the most recent achievements in this research area of robotics will be investigated by Prof. Caldwell and his collaborators of the Italian Institute of Technology, with particular focus on the COMAN humanoid robot developed at IIT.
Introduction to Biorobotics: Part of Biomedical Signal Processing
Published in Krishna Kant Singh, Vibhav Kumar Sachan, Akansha Singh, Sanjeevikumar Padmanaban, Deep Learning in Visual Computing and Signal Processing, 2023
Kashish Srivastava, Shilpa Choudhary
Definition: A humanoid robot is a gadget with its model figured as such to take to look alike to a normal human being. These models might be for practical purposes, for example, interfacing with human apparatuses and conditions, for exploratory purposes, for example, the research over bipedal velocity, or for various reasons or purposes. While all is done as to be told, then humanoid robots is in the middle, designed same as the human body shape with a head, two legs and hands. Many of such humanoid robots may demonstrate only one part of the body, for example, from the abdomen up.
Inverse optimal control to model human trajectories during locomotion
Published in Computer Methods in Biomechanics and Biomedical Engineering, 2022
Isabelle Maroger, Olivier Stasse, Bruno Watier
Every interaction between a humanoid robot and a human is a great challenge as humanoid robots are very complex systems due to their numerous degrees of freedom and their natural instability. These interactions go from avoiding the humans to assisting them when doing complex tasks. In the context of collaborative tasks, humanoid robots classically follow passively the humans (Kosuge et al. 1993). Nevertheless, those tasks could be performed more efficiently if the robot can predict and anticipate the human motions. Making a robot actively cooperate with a human requires a good knowledge of the human behaviour. Thus, in the context of the French ANR-COBOT project, dedicated to a collaborative table handling task between a human and a humanoid robot, models of human walking trajectories and forces applied by the human on the table are needed to allow the robot to real-time assist the human. This work, conducted as part of the ANR-COBOT, focuses on the first step of this co-manipulation task, namely reaching the table. This study aims to model and generate human trajectories during locomotion to make the robot walk to the table in a human-like way. The way humans walk with a table or interact with a robot to handle a table will be handled in further works. Nevertheless, the method is aimed to be the same. Moreover, evidences of better human-robot interactions under various forms of humans control were already demonstrated (Sheridan 2016). This is why we hypothesise that an accurate understanding and model of the human locomotion will help the human partner to understand where the robot endpoint is.
New convolutional neural network models for efficient object recognition with humanoid robots
Published in Journal of Information and Telecommunication, 2022
Simge Nur Aslan, Ayşegül Uçar, Cüneyt Güzeliş
Nowadays, the humanoid robots are increasingly used in a lot of areas, such as the medicine, the education, the healthcare, the logistics and the house and hotel services, to improve the quality of human life (Andtfolk et al., 2021; Angelopoulos et al., 2021; Dannecker & Hertig, 2021; Garcia-Haro et al., 2021; Nenchev et al., 2018; Oliver et al., 2021). The humanoid robots were used instead of humans or together with humans (Ambrose et al., 2001; Chohra & Madani, 2018; Fitzpatrick & Metta, 2003; Levine et al., 2016; Reforgiato Recupero, 2021; Sakagami et al., 2002). The humanoid robot used in (Fitzpatrick & Metta, 2003) learns the objects around it by using its body so that it can define and interpret its environment. In this case, it is considered the main indicator in the information it can provide vision. Computer vision technologies are generally used in applications as done in this study. For example, computer vision has been used in robotic applications for tasks such as obstacle avoidance and navigation (Chang, 2010; Pandey & Gelin, 2017), human-robot interaction (Le et al., 2018; Yavşan & Uçar, 2016), object detection for assisting robots, recognition (Martinez-Martin & Del Pobil, 2017), and object recognition for capture (Aslan et al., 2020; 2021; Ku et al., 2017; Levine et al., 2016).
Development of a single-wheeled inverted pendulum robot capable of climbing stairs
Published in Advanced Robotics, 2020
A. A. Wardana, T. Takaki, M. Jiang, I. Ishii
Responding to the human environment is an essential ability for a robot to operate alongside people. This includes climbing stairs unassisted, moving through a congested area, conveniently interacting with humans, and moving across inclined terrain. Humanoid robots are considered ideal for operating in a human environment. Humanoid robots can effectively traverse stairs, just like humans, by utilizing biped legs [1,2] and can also move through narrow passages because they are built to resemble the human physiology. Their legs can provide stability on pitch and roll axes, and therefore, they can move stably across inclined terrain and side slope [3]. The tall body of a humanoid robot aid it to conveniently interact with humans and other objects such as desks or tables. Despite the many advantages offered by humanoid robots, their design is complex and expensive because it requires many actuators and other electronic components. Additionally, it is not necessary for a robot to locomote like humans, to operate in a human environment.