We propose a new approach for teaching a humanoid-robot a task online without pre-set data provided in advance. In our approach, human acts as a collaborator and also as a teacher. The proposed approach enables the humanoid-robot to learn a task through multi-component interactive architecture. The components are designed with the respect to human methodology for learning a task through empiric...

This report presents the development of tactile sensing-based control architecture in a multi-fingered humanoid robot arm for object manipulation tasks. With the aim to enhance the ability to recognize and manipulate object in humanoid robot, we developed a novel optical three-axis tactile sensor system mounted on fingertips of the humanoid robot fingers. This tactile sensor applies an optical ...

The aim of this work is to build a cognitive model for the humanoid robot, especially, we are interested in the navigation and mapping on the humanoid robot. The agents used are the Alderbaran NAO robot. The framework is effectively applied to the integration of AI, computer vision, and signal processing problems. Our model can be divided into two parts, cognitive mapping and perception. Cognit...

This paper deals with the real-time stable walking for a humanoid robot, ISHURO-II, on uneven terrain. A humanoid robot necessitates achieving posture stabilization since it has basic problems such as structural instability. In this paper, a stabilization algorithm is proposed using the ground reaction forces, which are measured using FSR (Force Sensing Resistor) sensors during walking, and the...

This paper describes the integration of articulated motion with auditory and visual sensory information that enables a humanoid robot to achieve certain reflex actions that mimic those of people. Reflexes such as reach-and-grasp behavior enables the robot to learn, through experience, its own state and that of the world. A humanoid robot with binaural audio input, stereo vision, and pneumatic a...

Depending on the autonomous capability of the robot and the familiarity of the robot system with the task and environment, the level of human intervention differs. This paper introduces a methodology which allows a human operator to seamlessly switch between the continuous control of motion using an analog input device and the discrete behavior control cooperating with the robot using symbolic ...

Jiang Shan, Fumio Nagashima Autonomous System Lab, Fujitsu Lab Abstract: A biologically inspired design strategy for humanoid robot locomotion control and its simulation implementation is presented in this paper. Firstly, the dynamics model of humanoid robot, biologically plausible spinal motor neural circuits, and virtual muscular module are constructed. Then, the control strategy for adaptive...

This paper briefs on an overview of recent progress and development in humanoid robot, HanSaRam series. HanSaRam (HSR) is a humanoid robot undergoing continual design and development in the Robot Intelligence Technology (RIT) Laboratory at KAIST since 2000. Currently HSR-VI, the latest version developed in 2004, is under experiment for on-line walking. In this paper, a method to reduce the land...

BACKGROUND The use of humanoid robots to play a therapeutic role in helping individuals with social disorders such as autism is a newly emerging field, but remains unexplored in schizophrenia. As the ability for robots to convey emotion appear of fundamental importance for human-robot interactions, we aimed to evaluate how schizophrenia patients recognize positive and negative facial emotions d...

On-line full body imitation with a humanoid robot standing on 4 its own two feet requires simultaneously maintaining the balance and imitating 5 the motion of the demonstrator. In this paper we present a method that allows 6 real-time motion imitation while maintaining stability, based on prioritized 7 task control. We also describe a method of modified prioritized kinematic 8 control that cons...