Braided pneumatic artificial muscles, and in particular the better known type with a double helical braid usually called the McKibben muscle, seem to be at present the best means for motorizing robotarms with artificial muscles. Their ability to develop high maximum force associated with lightness and a compact cylindrical shape, as well as their analogical behavior with natural skeletal muscle...

In order to get the anthropomorphic robot accurate parameters of the upper limb joint control motor, a method based on Ziegler Nichols-frequency response of the adaptive PID controller is proposed. The control circuit identifies online important critical frequency response characteristics of process object through input and output data in the normal process operation, and then the system online...

INRIA [1] and LMS [2] have designed and realized an anthropomorphic legged robot, BIP2000 (fig.1). A planar version achieves walking, and the whole robot is able to keep its balance on one foot while moving. The purpose of this paper is to present the principles and the architecture of the robot control we have used. After having presented the robotic system, and the software architecture, we w...

A robot’s head is important both for directional sensors and, in human-directed robotics, as the single most visible interaction interface. However, designing a robot’s head faces contradicting requirements when integrating powerful sensing with social expression. Furher, reactions of the general public show that current head designs often cause negative user reactions and distract from the fun...

Abstract Artificial intelligence is one of the main topics characterizing 21 st century. The quick development these new intelligent systems brings challenges into daily life consumers and companies. Even though artificial contributes to an increased quality life, by simplifying its users processes companies, in same time it can affect cognitive abilities humans. By taking over different tasks ...

Many HRI researchers try to make guidelines for an appearance of the robot. However, these guidelines are insufficient to design and to evaluate a robot’s appearance separately. We propose new evaluation framework called “variable body image” to solve this problem. This framework changes the appearance of a robot with divided human-like robotic parts and makes it possible to evaluate the appear...

In this paper we describe a straight forward technique for tracking a human hand based on images acquired by an active stereo camera system. We demonstrate the implementation of this method on an anthropomorphic assistance robot as part of a multi-modal man-machine interaction system: detecting the hand-position, the robot can interprete a human pointing gesture as the specification of a target...