Generalized Hamiltonian biodynamics and topology invariants of humanoid robots

Generalized Hamiltonian Biodynamics and Topology Invariants of Humanoid Robots

Humanoid Robots

INTRODUCTION INTERACTION with the real world is of great importance for the advance of human intelligence. Now that the Net has spread worldwide and IT (information technology) is available everywhere, a new kind of social intelligence is about to be born. We need to overhaul the technologies that will be used to connect this new intelligence to the real world. In particular robotics technologi...

PSO-Based Path Planning Algorithm for Humanoid Robots Considering Safety

In this paper we introduce an improvement in the path planning algorithm for the humanoid soccer playing robot which uses Ferguson splines and PSO (Particle Swarm Optimization). The objective of the algorithm is to find a path through other playing robots to the ball, which should be as short as possible and also safe enough. Ferguson splines create preliminary paths using random generated para...

Brain-like functor control machine for general humanoid biodynamics

A novel, brain-like, hierarchical (affine-neuro-fuzzy-topological) control for biomechanically realistic humanoid-robot biodynamics (HB), formulated previously in [15, 16], is proposed in the form of a tensor-invariant, “meta-cybernetic” functor machine. It represents a physiologically inspired, three-level, nonlinear feedback controller of muscularlike joint actuators. On the spinal level, nom...

Emotion and sociable humanoid robots

This paper focuses on the role of emotion and expressive behavior in regulating social interaction between humans and expressive anthropomorphic robots, either in communicative or teaching scenarios. We present the scientific basis underlying our humanoid robot’s emotion models and expressive behavior, and then show how these scientific viewpoints have been adapted to the current implementation...