Humans use eye gaze in their daily interaction with other humans. Humanoid robots, on the other hand, have not yet taken full advantage of this form of implicit communication. We designed a passive monocular gaze tracking system implemented on the iCub humanoid robot [17]. The validation of the system proved that it is a viable low-cost, calibration-free gaze tracking solution for humanoid plat...

We present a robotic embodiment experiment based on real-time functional magnetic resonance imaging (rt-fMRI). In this study, fMRI is used as an input device to identify a subject’s intentions and convert them into actions performed by a humanoid robot. The process, based on motor imagery, has allowed four subjects located in Israel to control a HOAP3 humanoid robot in France, in a relatively n...

Humanoid service robots made swift progress in extending a helping hand to the strained global healthcare during COVID-19 pandemic. This case provides an overview of robots’ inclusion regarding pre- and intra-pandemic contexts. Specific focus is devoted humanoid as their shape, size, mobility make them advantageous using physical spaces designed for humans. A collection examples from hospitals ...

This article presents the approaches taken to integrate a novel anthropomorphic robot hand into a humanoid robot. The requisites enabling such a robot hand to use everyday objects in an environment built for humans are presented. Starting from a design that resembles the human hand regarding size and movability of the mechatronical system, a low-level control system is shown providing reliable ...

This paper describes the development of a novel humanoid robot foot/ankle based on an orientation Parallel Kinematic Mechanism for intelligent and flexible control. With three identical Universal-Prismatic-Spherical prismatic-actuated limbs and a central Universal-Revolute passive limb, the PKM can perform three degrees of freedom rotation motions. In order to enable the humanoid robot safely t...

In this paper, we describe a new real-time visual system that enables a humanoid robot to learn from and interact with humans. The core of the visual system is a probabilistic tracker that uses shape and color information to find relevant objects in the scene. Multiscale representations, windowing and masking are employed to accelerate the data processing. The perception system is directly coup...

Gesture-changeable under-actuated (GCUA) function is presented to make robot hand grasp objects dexterously and achieve humanoid manipulations with low dependence on control system. Based on GUCA function, GCUA Hand II is developed, which has 5 fingers and 14 DOFs. All the fingers use similar tendon mechanisms to achieve GCUA function which includes traditional under-actuated (UA) grasping moti...