Face classification using touch with a humanoid robot hand
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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 ...
In this paper we focus on human-robot interaction particularities that occur during programming by demonstration. Understanding what makes the interaction rewarding and keeps the user engaged helps optimize the robot's learning. Two user studies are presen ...
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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 ...
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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 ...
The human foot plays a key role in human walking providing, among others, body support and propulsion, stability of the movement and impact absorption. These fundamental functionalities are accomplished by an extraordinarily rich bio-mechanical design. Non ...
In this paper we propose a general control framework for ensuring stability of humanoid robots, determined through a normalized zero-moment-point (ZMP). The proposed method is based on the modified prioritized kinematic control, which allows smooth and con ...
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 ...