have achieved a world-first success in their joint development of a tele-operated humanoid robot that wears protective clothing and drives an industrial vehicle (backhoe) outdoors in lieu of a human operator as shown in Fig. 1. It shows us that a humanoid robot can expand its capability by using machines designed for the human even in the rain. The use of a tele-operated humanoid robot has a po...

This paper deals with on-line motion imitation of a human being by a humanoid robot using inverse kinematics (IK). First, the human observed trajectories are scaled in order to match the robot geometric and kinematic description. Second, a task prioritization process is defined using both equality and minimized constraints in the robot IK model, with four tasks: balance management, end-effector...

In this paper we present a humanoid robot system that is able to mimic the motion of a person. The system performs mimicking, using real-time stereo vision. Our discussion will focus on the detection and motion inferencing of the action of a person, and the simultaneous reproduction of the same motion on a humanoid robot. Our attempt, is to remove from the conventional view, that the use of a f...

In this paper, we introduced a concept of realworld oriented humanoid robot that can support humans’ daily life behavior. Such realworld oriented robots have to behold humans, understand behaviors of humans and support daily life tasks. Especially, realworld behavior such as handling of table wares, delivering daily commodities by hand and so on, are required. We developed a humanoid robot HRP-...

The goal of this work is to build a cognitive system for the humanoid robot, Cog, that exploits human caregivers as catalysts to perceive and learn about actions, objects, scenes, people, and the robot itself. This thesis addresses a broad spectrum of machine learning problems across several categorization levels. Actions by embodied agents are used to automatically generate training data for t...

Theoretically the birth of the humanoid robot arises from the study of human characteristics of movement. However, following the human model does not mean copying it. It is still a big challenge to develop an advanced humanoid robot. Most researchers have shown an interest in developing an ideal theory to keep the balance in various grounds while walking since it is so important for the surviva...

In this paper, we describe the soccer playing agent developed by our team UT Austin Villa to participate in the RoboCup 3D simulation soccer competition held in Atlanta, U.S.A., in July 2007. The 2007 competition saw the introduction of a humanoid robot in the 3D simulation league. We present an overview of this new version of the simulation league, followed by a description of our approaches i...

Humans use eye gaze in their daily interaction with other humans. Humanoid robots, on the other hand, have not yet taken full advantage of this form of implicit communication. We designed a passive monocular gaze tracking system implemented on the iCub humanoid robot [17]. The validation of the system proved that it is a viable low-cost, calibration-free gaze tracking solution for humanoid plat...

This thesis describes the design and implementation of a Walking Algorithm for the humanoid robot. The humanoid is intended to be an autonomous robot, and has a total of 6 degrees of freedom coming from the hip joint, knee joint and ankle joint for each leg. The aim of this thesis project is to develop a walking pattern to control and walk in a stable manner. Exploit methods for developing a na...

We seek intuitive, e cient ways to create and direct human-like behaviors for humanoid robots. Here we present a method to enable humanoid robots to acquire movements by imitation. The robot uses 3D vision to perceive the movements of a human teacher, and then estimates the teacher's body postures using a fast full-body inverse kinematics method that incorporates a kinematic model of the teache...