Concept

Humanoïde

Publications associées (107)

Stretchable capacitive tactile skin on humanoid robot fingers - first experiments and results

Aude Billard, Stéphanie Lacour, Nicolas Sommer, Aaron Powers Gerratt

A stretchable tactile sensor skin has been demonstrated on the dorsal side of a robotic hand for the first time. The sensors can detect normal pressures on the same scale as human skin but also in excess of 250 kPa and withstand strains in excess of 15%. U ...

2014

Learning robotic eye–arm–hand coordination from human demonstration: a coupled dynamical systems approach

Aude Billard, Luka Lukic, José Santos-Victor

We investigate the role of obstacle avoidance in visually guided reaching and grasping movements. We report on a human study in which subjects performed prehensile motion with obstacle avoidance where the position of the obstacle was systematically varied ...

Springer2014

State Estimation for a Humanoid Robot

Ludovic Righetti

This paper introduces a framework for state estimation on a humanoid robot platform using only common proprioceptive sensors and knowledge of leg kinematics. The presented approach extends that detailed in prior work on a point-foot quadruped platform by a ...

2014

Triggering social interactions: chimpanzees respond to imitation by a humanoid robot and request responses from it

Aude Billard

Even the most rudimentary social cues may evoke affiliative responses in humans and promote socialcommunication and cohesion. The present work tested whether such cues of an agent may also promotecommunicative interactions in a nonhuman primate species, by ...

Springer Verlag2014

Zero-Moment Point on a bipedal robot under bio-inspired walking control

Nicolas Benoît Dominique Van der Noot, Allan Barrea

Humanoid robots are currently still far from reaching the impressive human walking capabilities. Among the different methods used to design walking controllers, those based on the Zero-Moment Point (ZMP) criterion are among the most popular, even if they i ...

IEEE2014

Verb concepts from affordances

In this paper, we investigate how the interactions of a robot with its environment can be used to create concepts that are typically represented by verbs in language. Towards this end, we utilize the notion of affordances to argue that verbs typically refe ...

John Benjamins Publishing Company2014

Motion capture and reinforcement learning of dynamically stable humanoid movement primitives

Tadej Petric

Direct transfer of human motion trajectories to humanoid robots does not result in dynamically stable robot movements due to the differences in human and humanoid robot kinematics and dynamics. We developed a system that converts human movements captured b ...

IEEE2013

Stable real-time full body motion imitation on the COMAN humanoid robot.

Auke Ijspeert, Florin Dzeladini, Jesse van den Kieboom

On-line full body imitation with a humanoid robot standing on its own two feet requires simultaneously maintaining the balance and imitating the motion of the demonstrator. In this paper we present a method that allows real-time motion imitation while main ...

2013

A Model-Based Control Approach for Locomotion of Biped Robots

Salman Faraji

In this research we aim at proposing a general novel walking method for locomotion of torque controlled robots. The method should be able to produce a wide range of speeds without requiring oﬀ-line optimizations and re-tuning of parameters. It should be ca ...

2013

Quantifying the Human Likeness of a Humanoid Robot

Joachim von Zitzewitz

In research of human-robot interactions, human likeness (HL) of robots is frequently used as an individual, vague parameter to describe how a robot is perceived by a human. However, such a simplification of HL is often not sufficient given the complexity a ...

Springer Netherlands2013

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