This paper introduces a novel stereo vision based simulation system for a Humanoid Robot. This stereo vision system and robot controller is simulated dynamically and its performance evaluated for a standard humanoid robot benchmark problem. The vision system presented has been tested by simulating the dynamics of the robot system as well as the image processing subsystem. The real-time image pr...

Humanoid robotics is a promising field because the strong human preference to interact with anthropomorphic interfaces. Despite this, humanoid robots are far from reaching main stream adoption and the features available in such robots seem to lag that of the latest smartphones. A fragmented robot ecosystem and low incentives to developers do not help to foster the creation of Robot-Apps either....

Even with the recent advances in the area of dynamic walking on humanoid robots there is still a significant amount of manual calibration required in practice due to the variances in the hardware. That is in order to achieve the performance needed in environments such as RoboCup. We present a LIPM-based closed-loop walk, that adapts to differences in the physical behavior of the robot by optimi...

A novel balance control method for a humanoid robot is presented. It consists of a contact torque controller which is designed to have a good backdrivability and a feedback control of the total angular momentum and the center of gravity of a robot. A simulation result of a balance control using a 26 DOF humanoid robot model is shown.

Developing and testing the key modules of autonomous humanoid soccer robots (e.g., for vision, localization, and behavior control) in software-in-the-loop (SIL) experiments, requires real-time simulation of the main motion and sensing properties. These include humanoid robot kinematics and dynamics, the interaction with the environment, and sensor simulation, especially the camera properties. T...

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 the humanoid robots’ kinematics. In this paper we exploit the similarity between the movements of a humanoid robot and human movements to generate joint trajectories for such robots. In particular, we show how to transform human motio...

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...

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...