Policy Learning approaches are among the best suited methods for high-dimensional, continuous control systems such as anthropomorphic robot arms and humanoid robots. In this paper, we show two contributions: firstly, we show a unified perspective which allows us to derive several policy learning algorithms from a common point of view, i.e, policy gradient algorithms, naturalgradient algorithms ...

Domestic service tasks require three main skills from autonomous robots: robust navigation in indoor environments, flexible object manipulation, and intuitive communication with the users. In this paper, we present the communication skills of our anthropomorphic service and communication robots Dynamaid and Robotinho. Both robots are equipped with an intuitive multimodal communication system, i...

We present a study on the impact of unexpected robot behaviors on the perception of a robot by children and their subsequent engagement in a playful interaction based on a novel ”domino” task. We propose an original analysis methodology which blends behavioral cues and reported phenomenological perceptions into a compound index. While we found only a limited recognition of the different misbeha...

To gain insight in problems of industrial assembly operations, an anthropomorphic robot equipped with a vision system was used to insert differently shaped pegs into corresponding holes of a plastic ball. Spatial impedance control was used, to properly deal with the interaction between robot and environment and to elegantly chose the impedance of the robot. Simulations gave insight into the beh...

As robots begin to permeate the everyday human workspace to collaborate in innumerable and varied tasks, the robotic structure must adhere and replicate human-like gestures for effective interaction. Whether rehabilitation or augmentation, upper arm human-robot interaction is some of the most prevalent and investigated forms of collaboration. However, currently robotic control schemes fail to c...

This work takes part in the project of development of an anthropomorphic biped robot, Bip. The technological construction has been completed and the robot has performed some slow static walks. The next stage is the implementation of fast and dynamic walking gaits, in other words anthropomorphic gaits. The robot feet have been designed with a three-axes force-moment sensor for reconstructing the...

This paper presents a strategy meant to allow anthropomorphic robot hands to grasp objects of unknown shape in imitation of the human grasping reflex. A 10-month-old baby may bend his/her thumb and four fingers in an attempt to grasp an object when it comes in contact with the palm. After grasping it, if the object is attempted to be removed from the baby’s hand, the baby holds the object more ...

This paper addresses the field of humanoid and personal robotics—its objectives, motivations, and technical problems. The approach described in the paper is based on the analysis of humanoid and personal robots as an evolution from industrial to advanced and service robotics driven by the need for helpful machines, as well as a synthesis of the dream of replicating humans. The first part of the...

This study explores the rapidly expanding Collaborative Robot market and the recent literature in social robotics. An attempt is made to interpret both resources to define macro-parameter trends that could be useful guidelines for robot designing. The market shows a trend towards anthropomorphism in collaborative robot design, though some studies suggest that functionality of robots (not social...