Inter-humanoid robot interaction with emphasis on detection: a comparison study

Abstract

Robot Interaction has always been a challenge in collaborative robotics. In tasks comprising Inter-Robot Interaction, robot detection is very often needed. We explore humanoid robots detection because, humanoid robots can be useful in many scenarios, and everything from helping elderly people live in their own homes to responding to disasters. Cameras are chosen because they are reach and cheap sensors, and there are lots of mature two-dimensional (2D) and 3D computer vision libraries which facilitate Image analysis. To tackle humanoid robot detection effectively, we collected a data set of various humanoid robots with different sizes in different environments. Afterward, we tested the well-known cascade classifier in combination with several image descriptors like Histograms of Oriented Gradients (HOG), Local Binary Patterns (LBP), etc. on this data set. Among the feature sets, Haar-like has the highest accuracy, LBP the highest recall, and HOG the highest precision. Considering Inter-Robot Interaction, it is evident that false positives are less troublesome than false negatives, thus LBP is more useful than the others.

The average speed of motion and optimal power consumption in biped robots

“…In many aspects, legged robots have more advantages than wheeled robots which make them impossible to be replaced in specific missions such as climbing the stair and walking on an uneven surface, etc. Biped robots are a kind of legged robots that are being structured such that they can mimic human-like movements (Moro et al, 2011;Abbas Shangari et al, 2016;Javadi et al, 2017) and perform specific tasks like activities in hazardous environments and help the elderly (Baltes et al, 2015;Ott et al, 2017;Shangari et al, 2017). Having a better perception of humans' natural movements from biological and biodynamic points of view, producing artificial organs for sick and disabled people, utilizing the humanoid robots to work in hazardous environments that have the potential for explosions and fires and to carry out intolerable tasks which can have more mobility in the uneven paths such as moving on stairs and crossing obstacles in comparison with wheeled robots are some different applications of biped robots.…”