Due to the lack of commercially available humanoid robots, multi-agent research with real humanoid robots was not feasible so far. While quite a number of research labs construct their own humanoids and it is likely that some advanced humanoid robots will be commercially available in the near future, the high costs involved will make multi-robot experiments at least difficult. For these reasons...

In our lab at the Center for Intelligent Systems we are currently developing a dual armed humanoid service robot called ISAC One of our focus areas in this research is the use of humanoid robots for en tertainment One application we have developed is using ISAC to play a musical instrument called the Theremin In this paper we present our Theremin playing robot and describe the software system u...

A behavior strategy of humanoid robot for obstacle avoidance based on four infrared sensors is proposed and implemented on an autonomous humanoid robot. A mechanical structure with 26 degrees of freedom is design so that an implemented small-size humanoid robot named TWNHR-III is able to accomplish five walking motions. Three walking experiments are presented to illustrate that the proposed bip...

This paper discusses the pushing manipulation of an object by a humanoid robot. For such a pushing task, we show that there are two kinds of ZMPs, i.e., the conventional “Zero Moment Point (ZMP)” considering all sources of the force/moment acting in the foot supporting area, and the “Generalized Zero Moment Point (GZMP)” which is an generalization of ZMP for a humanoid robot whose hands do not ...

This paper presents developmental learning on a humanoid robot from human-robot interactions. We consider in particular teaching humanoids as children during the child’s Separation and Individuation developmental phase (Mahler, 1979). Cognitive development during this phase is characterized both by the child’s dependence on her mother for learning while becoming awareness of her own individuali...

This paper proposes a framework for a virtual entity‐based rapid prototype (VERP) to facilitate the design and simulation of humanoid robots. The VERP framework consists of three components: virtual entities, a high‐fidelity simulation environment with physical and rendering engines, and an interface between the physical and simulation environments. To study the effectiveness of...

This paper presents the initial response of Autism children interacting with Humanoid Robot NAO in Robot-based Intervention Program. Twelve Autism children from National Autism Society of Malaysia (NASOM) is being selected based on their behaviour characteristics which has been identified by certified clinical specialist, psychiatrist, occupational therapy and psychologist. Their Intelligence Q...

This paper details the hardware, software and electrical design of our new humanoid platform for the adult size league at RoboCup 2014 to be held later this year in João Pessoa, Brazil. THORwIn is a 49Kg bipedal robot that will show our experience from previous RoboCup encounters with Humanoid platforms like DARwIn-OP, CHARLI, and XOS in robot soccer autonomy since RoboCup 2007 [1,2].

We propose an efficient and powerful alternative for adaptation of human motions to humanoid robots keeping the bipedal stability. For achieving a stable and robust whole body motion of humanoid robots, we design a biologically inspired control framework based on neural oscillators. Entrainments of neural oscillators play a key role to adapt the nervous system to the natural frequency of the in...