In order for humanoid robots to enter human-centred environments, it is indispensable to equip them with manipulative, perceptive and communicative skills necessary for real-time interaction with the environment and humans. The goal of our work is to provide reliable and highly integrated humanoid platforms which on the one hand allow the implementation and tests of various research activities ...

In this paper, we present a new humanoid robot currently being developed for applications in human-centered environments. In order for humanoid robots to enter human-centered environments, it is indispensable to equip them with manipulative, perceptive and communicative skills necessary for real-time interaction with the environment and humans. The goal of our work is to provide reliable and hi...

This paper presents the latest results in developing an anthropomorphic dextrous hand for a 2-years-old humanoid. As this robot is aimed to be a physical platform for cognition, the number of degrees of freedom of the upper part of the body has been maximized. The robotic hand has 20 DoFs and 9 motors to accomplish optimal grasping and manipulation. Based on the manipulation tasks required in t...

In order for humanoid robots to enter humancentered environments, it is indispensable to equip them with the ability to recognize and classify objects in such an environment. A promising way to acquire the object models necessary for object manipulation appears in the supplement of the information gathered by computer vision techniques with data from haptic exploration. In this paper we present...

Humanoid robotics is coming of age with faster and more agile robots. To compliment the physical complexity of humanoid robots, the robotics algorithms being developed to derive their motion have also become progressively complex. The work in this thesis spans across two research fields, human neuroscience and humanoid robotics, and brings some ideas from the former to aid the latter. By explor...

In this paper, we introduced a concept of realworld oriented humanoid robot that can support humans’ daily life behavior. Such realworld oriented robots have to behold humans, understand behaviors of humans and support daily life tasks. Especially, realworld behavior such as handling of table wares, delivering daily commodities by hand and so on, are required. We developed a humanoid robot HRP-...

The robot in a highly humanoid appearance, and the ability to play the violin is presented for a robot entertainment and ornamental. By model for keeping moving range of the mechanical structure, a method makes the robot has the possibility of playing the violin. Based on ARM core intelligent control with AHRS is used to realize control of the robot behavior. Finally, the present study realizes...

This paper addresses the problem of bi-manual object handover with a humanoid robot, i.e. the task of passing objects from one hand to the other. Bi-manual coordination is fundamental for improving manipulation capabilities of humanoid robots. We propose a novel and effective pipeline that tackles the problem by using visual and tactile feedback to localize the object and maintain grasp stabili...

Future humanoid robots will execute various complicated tasks based on communication with human users. These humanoid robots will be equipped with anthropomorphic robot hands much like the human hand. The robots will eventually supplant human labor in the execution of intricate and dangerous tasks in areas such as manufacturing, space exploration and the seabeds. Many multi-fingered robot hands...

In Japan, the average age of the population is rising faster than other nations in the world, due to decrease of birth rate and increase of elderly people. A possible solution to this problem is a new generation of personal robots capable of a natural communication with humans. In this sense, human hands play a fundamental role in exploration, communication, and interaction with objects and oth...