Knowledge-based control of a humanoid robot

Choi, Dongkyu; Kang, Yeonsik; Lim, Hee Chun; You, Bum-Jae

doi:10.1109/iros.2009.5354066

Cited by 8 publications

(5 citation statements)

References 10 publications

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“…In order to evaluate the proposed method, several experiments are performed using the humanoid robot, Mahru-1, which was developed by Korea Institute of Science and Technology (KIST) [1]. Mahru-1 has 27 degrees of freedom except 8 DOF for both hands and it stands 150cm tall and weighs 67kg.…”

Section: Resultsmentioning

confidence: 99%

Ground height map generation for a humanoid robot in an unstructured environment

Park

Kim

You

et al. 2011

IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society

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This paper proposes a method to measure an accurate ground height map for a humanoid robot by using a laser scanner in an unstructured environment. To measure accurate dimensions of a surface or an obstacle, a 2D laser scanner is installed on the head of a humanoid robot, called MAHRU-1. By moving the head up and down, 3D depth map around a robot is obtained from the 2D range data. After obtaining the 3D depth map around a robot, a plane segmentation method is applied to the 3D data. At first, all the horizontal and vertical planes in the 3D point map are extracted, and the outliers are removed from the plane. After segmenting the plane from the 3D data, the dimensions and the area of the planes are calculated. The accuracy of the extracted surface is evaluated with experimental results, which show the effectiveness of proposed method to extract the surfaces in the unstructured environment.

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Section: Resultsmentioning

confidence: 99%

Ground height map generation for a humanoid robot in an unstructured environment

Park

Kim

You

et al. 2011

IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society

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“…Previously, we integrated ICARUS with the MAHRU humanoid, and the system successfully performed a color sorting task in the blocks world [3]. The integration required only minimal changes to both ICARUS and MAHRU, still leaving them available for other uses.…”

Section: Review Of Icarus-mahru Integrationmentioning

confidence: 99%

“…Previously, we made a successful attempt to use a cognitive architecture, ICARUS [1], for controlling a humanoid robot, Mahru [2]. The architecture sucessfully controlled a simulated version of the robot [3], as well as the actual robot [4] for some blocks world tasks.…”

Section: Introductionmentioning

confidence: 99%

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Problem solving and learning for a humanoid robot

Choi

Kim

et al. 2011

2011 IEEE International Conference on Robotics and Biomimetics

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Based on our previous work that integrated a cognitive architecture, ICARUS, and a humanoid robot, MAHRU, we extend our use of the architecture to higher-level capabilities of problem solving and learning. During this process, we found the need to address a known limitation of ICARUS's problem solver. An extension is made to allow handling of underspecified goals in the system, and we demonstrate this new ability in a blocks world task that involves alphabet writing with several identical blocks.

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“…In order to fabricate electronic skin simulating natural skin characteristics, researchers have developed many types of tactile sensors based on a variety of transduction principles, such as piezoresistive [6], capacitive [7], piezoelectric [8], electromagnetic [9], and optoelectronic principles [10], etc. Some new materials and processes have been used, including piezoresistive rubber [11], conductive ink [12], organic field effect transistor [13], micro-structured PDMS [14], magnetized cilia [15], PVDF film [16,17], surface electric field [18] and electrical impedance tomography [19,20].…”

Section: Introductionmentioning

confidence: 99%

Highly sensitive capacitive pressure sensor with elastic metallized sponge

You-zhi

Lin

Huang

et al. 2019

Smart Mater. Struct.

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This paper presents a novel capacitive pressure sensor that is capable of making highly accurate measurements at low pressure. Different from the method that many researchers have successfully used to improve the sensitivity of capacitive sensors by using a micro-structured dielectric layer (such as the micro-structured PDMS film), this paper creatively used an elastic metallized sponge (nickel-plated polyurethane sponge) as the elastic porous electrode of the capacitive sensor, so that it can detect very low pressure (such as a 0.2 g soybean). Compared with the traditional capacitive sensor using an insulative polyurethane sponge as the dielectric, the baseline capacitance of the sensor of the same size can increase by 10 times, and it has a better signal-to-noise ratio. In addition, the sensor has good robustness due to the good mechanical properties of the nickel-plated polyurethane sponge. The fabrication process of the sensor is extremely simple, the cost is low, and it can be made into any planar shape. In this paper, we describe the structure, principle and manufacture of the sensor, and present the application on robotic grasping.

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Knowledge-based control of a humanoid robot

Cited by 8 publications

References 10 publications

Ground height map generation for a humanoid robot in an unstructured environment

Ground height map generation for a humanoid robot in an unstructured environment

Problem solving and learning for a humanoid robot

Highly sensitive capacitive pressure sensor with elastic metallized sponge

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