Autonomous behavior control architecture of entertainment humanoid robot SDR-4X

Fujita, Masahiro; Kuroki, Yoshio; Ishida, Toru; Doi, Toshi T.

doi:10.1109/iros.2003.1250752

Cited by 77 publications

(32 citation statements)

References 10 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Several researchers have proposed feed-forward algorithms for humanoid walking based on ZMP criteria [6], [3], [1], [5], [2], [9], [11]. The trajectories generated by these methods are model-based and result in dynamically stable motions provided that the trajectory of the Zero Moment Point lies inside the convex hull of the area of support.…”

Section: Introductionmentioning

confidence: 99%

A Feedback Controller for Biped Humanoids that Can Counteract Large Perturbations During Gait

Komura

Leung

Kudoh

et al.

Proceedings of the 2005 IEEE International Conference on Robotics and Automation

View full text Add to dashboard Cite

Abstract-In this paper, we propose a new method for biped humanoids to compensate for large amounts of angular momentum induced by strong external perturbations applied to the body during gait motion. Such angular momentum can easily cause the humanoid to fall down onto the ground. We use an Angular Momentum inducing inverted Pendulum Model (AMPM), which is an enhanced version of the 3D linear inverted pendulum model to model the robot dynamics. Because the AMPM allows us to explicitly calculate the angular momentum generated by the ground reaction force, it is possible to calculate a counteracting motion that compensates for the angular momentum generated by external perturbations in realtime.

show abstract

Section: Introductionmentioning

confidence: 99%

A Feedback Controller for Biped Humanoids that Can Counteract Large Perturbations During Gait

Komura

Leung

Kudoh

et al.

Proceedings of the 2005 IEEE International Conference on Robotics and Automation

View full text Add to dashboard Cite

show abstract

“…UMANOID robots have been used in a wide range of applications that require human-robot interaction including entertainment [1,2,3], healthcare [4,5], and assistive living [6]. They have also been used for assisting children with learning difficulties [7] to encourage social interaction [8,9] and provide verbal and/or physical encouragement [10].…”

Section: Introductionmentioning

confidence: 99%

Imitation of Dynamic Walking with BSN for a Humanoid Robot

Teachasrisaksakul

Zhang

Yang

et al. 2015

IEEE J. Biomed. Health Inform.

View full text Add to dashboard Cite

“…The game is a success if the hearer indeed carries out an action that achieves the requested posture (Figure 1). The game has been operationalized on non-commercial Sony humanoid robots (Fujita et al, 2003) and is described in more detail in (Steels & Spranger, 2008a,b, 2009Spranger & Loetzsch, 2009). Although there are only two robot bodies available, a population is simulated by storing the agents' internal states as software states on a server and loading these states into each robot at the beginning of a game.…”

Section: Introductionmentioning

confidence: 99%

Emergent mirror systems for body language

Steels

Spranger

2012

Advances in Interaction Studies

View full text Add to dashboard Cite

This chapter investigates how a vocabulary for talking about body actions can emerge in a population of grounded autonomous agents instantiated as humanoid robots. The agents play a Posture Game in which the speaker asks the hearer to take on a certain posture. The speaker either signals success if the hearer indeed performs an action to achieve the posture or he shows the posture himself so that the hearer can acquire the name. The challenge of emergent body language raises not only fundamental issues in how a perceptually grounded lexicon can arise in a population of autonomous agents but also more general questions of human cognition, in particular how agents can develop a body model and a mirror system so that they can recognize actions of others as being the same as their own.

show abstract

Autonomous behavior control architecture of entertainment humanoid robot SDR-4X

Cited by 77 publications

References 10 publications

A Feedback Controller for Biped Humanoids that Can Counteract Large Perturbations During Gait

A Feedback Controller for Biped Humanoids that Can Counteract Large Perturbations During Gait

Imitation of Dynamic Walking with BSN for a Humanoid Robot

Emergent mirror systems for body language

Contact Info

Product

Resources

About