The formulation and optimization of joint trajectories for humanoid robots is quite different from this same task for standard robots because of the complexity of humanoid robots’ kinematics and dynamics. In this paper we exploit the similarity between human motion and humanoid robot motion to generate joint trajectories for humanoids. In particular, we show how to transform human motion inform...

Social signals are commonly used to facilitate the usability of humanoid robots. While providing robot with an extended expressibility, these often applied only in structured interactions where parts familiarization or farewell processes disregarded evaluation. In order establish consideration a more comprehensive view, this article presents holistic model human encounters social robot. We prop...

This article introduces the development of a human-robot interaction’s system. The NAO humanoid robot has been programmed to play the popular 20 questions (20Q) game. The system includes modules for both, speech recognition and text-to-speech as mechanisms for exchanging information with the humanoid robot. The system has been tested with non-expert volunteers to analyse which kind of interacti...

This paper details the hardware, software, and electrical design of the humanoid robot family, DARwIn (Dynamic Anthropomorphic Robot with Intelligence) – a robot family designed as a platform for researching bipedal motions. The DARwIn family was the first US entry into the humanoid division of RoboCup.

This paper describes the vision system for a humanoid robot, which includes the mechanism that controls eyeball orientation and blinking process. Along with the mechanism designed, the orientation of the camera, integrated with controlling servomotors. This vision system is a bio-mimic, which is  designed to match the size of human eye. This prototype runs face recognition and identifies, match...

A Bayesian kinesthetic-visual matching model allows a humanoid robot to perform mirror self-recognition without social understanding. The robot learns the relationship between its own motor activity and perceived motion by observing the movements of its arm for four minutes. Over this time, it builds a simple dynamic Bayesian model that relates these two events, and uses this self model to buil...

We have developed a humanoid robot HRP-1S that is capable of simultaneous whole body motion control. In phase one of the Humanoid Robotics Project (HRP) of the Ministry of Economy, Trade and Industry of Japan, Honda R&D Co. Ltd has produced humanoid robot HRP-1 as a humanoid research platform to ease the development of good applications for humanoid robots in phase two of HRP. However, HRP-1 co...

We describe a humanoid robot platform--the iCub--which was designed to support collaborative research in cognitive development through autonomous exploration and social interaction. The motivation for this effort is the conviction that significantly greater impact can be leveraged by adopting an open systems policy for software and hardware development. This creates the need for a robust humano...

This paper analyses the torque characteristics of the shoulder and elbow joints of a humanoid robot arm that is useful for an object lifting and transferring task instead of human beings. For the purpose, some typical human lifting behaviors are considered, and various simulations for lifting and transferring an object have been performed by employing a humanoid robot arm having a simple config...

The majority of our waking hours are spent engaging in social interactions. Some of these interactions occur at the level of long-term strategic planning while others take place at faster time scales, such as in conversations or card games. The ability to perceive subtle gestural, postural, and facial cues, in addition to verbal language, in real-time is a critical component of social interacti...