Bio-inspired balance controller for a humanoid robot
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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 ...
Vertebrates are able to quickly adapt to new environments in a very robust, seemingly effortless way. To explain both this adaptivity and robustness, a very promising perspective in neurosciences is the modular approach to movement generation: Movements re ...
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This paper presents an experiment in which the iCub humanoid robot learns to recognize faces through proprioceptive information. We take inspiration in the way blind people recognize people's faces, i.e. through tactile exploration of the person's face. Th ...
Despite tremendous advances in robotics, we are still amazed by the proficiency with which humans perform movements. Even new waves of robotic systems still rely heavily on hardcoded motions with a limited ability to react autonomously and robustly to a dy ...
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 ...
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 ...
We introduce a new multimodal interaction dataset with extensive annotations in a conversational Human-Robot-Interaction (HRI) scenario. It has been recorded and annotated to benchmark many relevant perceptual tasks, towards enabling a robot to converse wi ...
Despite many efforts, balance control of humanoid robots in the presence of unforeseen external or internal forces has remained an unsolved problem. The difficulty of this problem is a consequence of the high dimensionality of the action space of a humanoi ...
When a robot is situated in an environment containing multiple possible interaction partners, it has to make decisions about when to engage specific users and how to detect and react appropriately to actions of the users that might signal the intention to ...