A teleoperation system for whole body motions of a humanoid robot using a simple joystick master device is developed. Humanoid robots are physically similar to human and usually possess a large number of degrees of freedom. Getting hints from the shifting of locus of attention for body motions between the joints of human body during task executions, we propose a switching command based teleoper...

In this paper we develop two noble mechanisms for im proving the motions of humanoid robots The double spherical joint is a six DOF joint that consists of six sin gle DOF mechanical pairs in series with their axes inter secting at a point The double spherical joint replaces two hip joints six DOF of humanoid robot and even provides the equivalent function of waist joints without actually adding...

This paper describes a hybrid brain-computer interface (BCI) technique that combines the P300 potential, the steady state visually evoked potential (SSVEP), and event related de-synchronization (ERD) to solve a complicated multi-task problem consisting of humanoid robot navigation and control along with object recognition using a low-cost BCI system. Our approach enables subjects to control the...

In this paper, we propose and demonstrate an omnidirectional walking engine that achieves stable walking using feedback from an inertial measurement unit (IMU). The 3D linear inverted pendulum model (3D-LIPM) is used as a simplified model of the robot, the zero moment point (ZMP) criterion is used as the stability criterion, and only the feedback from the IMU is utilized for stabilization. The ...

In this paper, a path planning of humanoid robot for obstacle avoidance by using infrared sensors (IRs) is proposed. An autonomous humanoid robot TWNHR-3 is used to implement the proposed strategy. Four IR sensors are mounted on TWNHR-3 to detect obstacles. Based on the obtained information from IR sensors, a decision tree method is proposed to decide the behavior of robot so that the robot avo...

The design considerations for a small, relatively fast walking, autonomous humanoid robot are presented. The robot must be energy efficient but also produce sufficient torque to reach greater speeds. On the basis of previous investigations into gait optimization for multilegged systems, dynamical modeling and nonlinear optimization tools are used for design optimization and choosing the motor s...

Teleoperating robots, particularly humanoid robots, from a remote environment remains a difficult problem. Significant research has been conducted in human-robot interaction for teleoperating mobile ground robots for both novice and experienced operators with a variety of interfaces and strategies; however, there is significantly less research on teleoperating humanoid robots. By their nature, ...

The evolution of human-robot interaction (HRI) is now expanding its wings to aid children with Autism Spectrum Disorders (ASD) in areas of socialization, communication and playful behavior through robot-based intervention. Herein we present our holistic, longstanding goal to contribute to the lives of children with ASD; who suffer a lifelong developmental disability. The purpose of this paper i...

In recent years, humanoid robot soccer robots have shown increasingly robust and fast locomotion, making perception, world modeling and behavior control important. In this paper, we present the world modeling approach of the Darmstadt Dribblers humanoid robot team, which won the competitions in the RoboCup Humanoid KidSize League in 2009 and 2010. The paper focuses on modeling observation uncer...

Over the past few years, soccer-playing humanoid robots advanced significantly. Elementary skills, such as bipedal walking, visual perception, and collision avoidance have matured enough to allow for dynamic and exciting games. In this paper, the three winning Humanoid League teams from the KidSize, TeenSize, and AdultSize class present their soccer systems. The KidSize winner team DARwIn used ...