Automatic Gain Tuning of a Momentum Based Balancing Controller for Humanoid Robots
, 2016 This paper proposes a technique for automatic gain tuning of a momentum based balancing controller for humanoid robots. The controller ensures the stabilization of the centroidal dynamics and the associated zero dynamics.
Nava, Gabriele +2 more
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Lower body design of the ‘iCub’ a human-baby like crawling robot [PDF]
, 2006 The development of robotic cognition and a greater understanding of human cognition form two of the current greatest challenges of science. Within the RobotCub project the goal is the development of an embodied robotic child (iCub) with the physical and ...
Becchi, F +5 more
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Push Recovery of a Position-Controlled Humanoid Robot Based on Capture Point Feedback Control
, 2017 In this paper, a combination of ankle and hip strategy is used for push recovery of a position-controlled humanoid robot. Ankle strategy and hip strategy are equivalent to Center of Pressure (CoP) and Centroidal Moment Pivot (CMP) regulation respectively.
Karimi, Mojtaba +4 more
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Efficient Humanoid Contact Planning using Learned Centroidal Dynamics Prediction
, 2019 Humanoid robots dynamically navigate an environment by interacting with it via contact wrenches exerted at intermittent contact poses. Therefore, it is important to consider dynamics when planning a contact sequence.
Berenson, Dmitry +3 more
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Humanoid Robots in Tourism and Hospitality—Exploring Managerial, Ethical, and Societal Challenges
Applied SciencesThe paper evaluates the benefits and challenges of employing humanoid robots in tourism and hospitality, examining their roles, decision-making processes, human-centric approaches, and oversight mechanisms.
Ida Skubis +2 more
doaj +1 more source
Editorial: Consciousness in Humanoid Robots [PDF]
Frontiers in Robotics and AI, 2019 The paper introduces the special issue on Robot ...
Antonio Chella +5 more
openaire +3 more sources
A lightweight prosthetic hand with 19-DOF dexterity and human-level functions
Nature CommunicationsA human hand has 23-degree-of-freedom (DOF) dexterity for managing activities of daily living (ADLs). Current prosthetic hands, primarily driven by motors or pneumatic actuators, fall short in replicating human-level functions, primarily due to limited ...
Hao Yang +11 more
doaj +1 more source
Legged odometry based on fusion of leg kinematics and IMU information in a humanoid robot
Biomimetic Intelligence and RoboticsPosition and velocity estimation are the key technologies to improve the motion control ability of humanoid robots. Aiming at solving the positioning problem of humanoid robots, we have designed a legged odometry algorithm based on forward kinematics and
Huailiang Ma +5 more
doaj +1 more source
Cooperation of Humanoid Robots using Teleoperation for Transferring an Object
International Journal of Advanced Robotic Systems, 2008 In this paper, a method is proposed for humanoid robots performing object transfering task in a teleoperated cooperative paradigm. The cooperative task is accomplished using simple communication among two humanoid robots and then switch between modes ...
Ali Raza Jafri +2 more
doaj +2 more sources
Humanoid Motion Description Language [PDF]
, 2002 In this paper we propose a description language for specifying motions for humanoid robots and for allowing humanoid robots to acquire motor skills. Locomotion greatly increases our ability to interact with our environments, which in turn increases our ...
Chen, Yanbing, Choi, Ben
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