An Interactive Tool for Designing Complex Robot Motion Patterns
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Task-Space Control Interface for Softbank Humanoid Robots and Its
Task-Space Control Interface for SoftBank Humanoid Robots and its Human-Robot Interaction Applications Anastasia Bolotnikova, Pierre Gergondet, Arnaud Tanguy, Sébastien Courtois, Abderrahmane Kheddar To cite this version: Anastasia Bolotnikova, Pierre Gergondet, Arnaud Tanguy, Sébastien Courtois, Abderrahmane Kheddar. Task-Space Control Interface for SoftBank Humanoid Robots and its Human-Robot Interaction Applications. IEEE/SICE 13th International Symposium on System Integration (SII 2021), Jan 2021, Online conference (originally: Iwaki, Fukushima), Japan. pp.560-565, 10.1109/IEEECONF49454.2021.9382685. hal-02919367v3 HAL Id: hal-02919367 https://hal.archives-ouvertes.fr/hal-02919367v3 Submitted on 8 Oct 2020 HAL is a multi-disciplinary open access L’archive ouverte pluridisciplinaire HAL, est archive for the deposit and dissemination of sci- destinée au dépôt et à la diffusion de documents entific research documents, whether they are pub- scientifiques de niveau recherche, publiés ou non, lished or not. The documents may come from émanant des établissements d’enseignement et de teaching and research institutions in France or recherche français ou étrangers, des laboratoires abroad, or from public or private research centers. publics ou privés. Task-Space Control Interface for SoftBank Humanoid Robots and its Human-Robot Interaction Applications Anastasia Bolotnikova1;2, Pierre Gergondet4, Arnaud Tanguy3,Sebastien´ Courtois1, Abderrahmane Kheddar3;2;4 Abstract— We present an open-source software interface, Real robot called mc naoqi, that allows to perform whole-body task-space Quadratic Programming based control, implemented in mc rtc Fixed frame rate low-level actuator commands Robot sensors readings from framework, on the SoftBank Robotics Europe humanoid robots. Other robot device commands low-level memory fast access We describe the control interface, associated robot description mc_naoqi_dcm packages, robot modules and sample whole-body controllers. -
Development of Open Platform Humanoid Robot Darwin-OP Inyong Ha*, Yusuke Tamura and Hajime Asama
Advanced Robotics, 2013 http://dx.doi.org/10.1080/01691864.2012.754079 SHORT PAPER Development of open platform humanoid robot DARwIn-OP Inyong Ha*, Yusuke Tamura and Hajime Asama Department of Precision Engineering, The University of Tokyo, 7-3-1, Hongo, Bunkyo-ku, Tokyo 113-8656, Japan (Received 24 January 2012; accepted 27 March 2012) To develop an appropriate research platform, this paper presents the design method for a humanoid which has a net- work-based modular structure and a standard PC architecture. Based on the proposed method, we developed DARwIn- OP which meets the requirements for an open humanoid platform. DARwIn-OP has an expandable system structure, high performance, simple maintenance, familiar development environment and affordable prices. Not only hardware but also software aspects of open humanoid platform are discussed in this paper. Keywords: open platform; humanoid; DARwIn-OP 1. Introduction lution from E series [3]. Then, they opened the first ver- A humanoid robot is a robot that has a general structure sion of ASIMO which walked stably at 1.6 km/h to the of the human body, such as two legs, two arms, a torso, public in 2000 [4]. A new ASIMO was introduced in and a head. Although, some shapes of a humanoid robot 2005 and it could run and walk up and down stairs. Sup- may not be exactly the same as that of a human, a ported by the Ministry of Economics, Commerce and humanoid robot has a basic similar appearance and func- Industry, Japan, the HRP-2 was developed by National tions of a human. -
The Sphingidae (Lepidoptera) of the Philippines
©Entomologischer Verein Apollo e.V. Frankfurt am Main; download unter www.zobodat.at Nachr. entomol. Ver. Apollo, Suppl. 17: 17-132 (1998) 17 The Sphingidae (Lepidoptera) of the Philippines Willem H o g e n e s and Colin G. T r e a d a w a y Willem Hogenes, Zoologisch Museum Amsterdam, Afd. Entomologie, Plantage Middenlaan 64, NL-1018 DH Amsterdam, The Netherlands Colin G. T readaway, Entomologie II, Forschungsinstitut Senckenberg, Senckenberganlage 25, D-60325 Frankfurt am Main, Germany Abstract: This publication covers all Sphingidae known from the Philippines at this time in the form of an annotated checklist. (A concise checklist of the species can be found in Table 4, page 120.) Distribution maps are included as well as 18 colour plates covering all but one species. Where no specimens of a particular spe cies from the Philippines were available to us, illustrations are given of specimens from outside the Philippines. In total we have listed 117 species (with 5 additional subspecies where more than one subspecies of a species exists in the Philippines). Four tables are provided: 1) a breakdown of the number of species and endemic species/subspecies for each subfamily, tribe and genus of Philippine Sphingidae; 2) an evaluation of the number of species as well as endemic species/subspecies per island for the nine largest islands of the Philippines plus one small island group for comparison; 3) an evaluation of the Sphingidae endemicity for each of Vane-Wright’s (1990) faunal regions. From these tables it can be readily deduced that the highest species counts can be encountered on the islands of Palawan (73 species), Luzon (72), Mindanao, Leyte and Negros (62 each). -
AUTONOMOUS NAVIGATION with NAO David Lavy
AUTONOMOUS NAVIGATION WITH NAO David Lavy and Travis Marshall Boston University Department of Electrical and Computer Engineering 8 Saint Mary's Street Boston, MA 02215 www.bu.edu/ece December 9, 2015 Technical Report No. ECE-2015-06 Summary We introduce a navigation system for the humanoid robot NAO that seeks to find a ball, navigate to it, and kick it. The proposed method uses data acquired using the 2 cameras mounted on the robot to estimate the position of the ball with respect to the robot and then to navigate towards it. Our method is also capable of searching for the ball if is not within the robots immediate range of view or if at some point, NAO loses track of it. Variations of this method are currently used by different universities around the world in the international robotic soccer competition called Robocup. This project was completed within EC720 graduate course entitled \Digital Video Processing" at Boston University in the fall of 2015. i Contents 1 Introduction 1 2 Literature Review 1 3 Problem Solution 2 3.1 Find position of the ball . .3 3.2 Positioning the robot facing the ball . 10 3.3 Walking to the ball . 11 3.4 Kicking the ball . 12 4 Implementation 12 4.1 Image Acquisition . 13 4.2 Finding Contours and Circles . 13 4.3 Navigation and kicking for NAO . 13 5 Experimental Results 14 5.1 Ball identification results by method . 14 5.2 Confusion matrices . 14 5.3 Centering NAO to face the ball . 15 6 Conclusion and Future Work 16 7 Appendix 17 7.1 NAO features . -
Italia Milano Roma Mondo Speciale Tefaf Berlino Londra New York Parigi Vienna SUPPLEMENTO DI «IL GIORNALE DELL’ARTE» N
A cura di Franco Fanelli Questo mese (Arte contemporanea e Gallerie) 146 mostre Anna Maria Farinato (Arte antica) in 72 città Laura Giuliani (Archeologia) Walter Guadagnini (Fotografia) di 15 Paesi «IL GIORNALE DELL’ARTE» | MARZO 2020 IL GIORNALE DELLE MOSTRE Italia Milano Roma Mondo Speciale Tefaf Berlino Londra New York Parigi Vienna SUPPLEMENTO DI «IL GIORNALE DELL’ARTE» N. 406 MARZO 2020 / SOCIETÀ EDITRICE ALLEMANDI N. 406 MARZO 2020 / SOCIETÀ SUPPLEMENTO DI «IL GIORNALE DELL’ARTE» Un fotogramma del video «Nova» (2019) di Cao Fei. Cortesia (2019) di Cao Fei. Un fotogramma del video «Nova» dell’artista e di Vitamin Creative Space e Sprüth Magers. Dal 4 marzo al 17 maggio l’artista progetto espositivo per le Serpentine cinese presenta un nuovo Galleries di Londra. BOLOGNA GRESSONEY-SAINT-JEAN PISTOIA VENARIA REALE IL GIORNALE DELLE MOSTRE ITALIA Bologna Tutti insieme a casa Ricomposto il Polittico Griffoni, perla del Quattrocento emiliano «Santa Lucia» di Francesco del Cossa, Washington, Bologna. La riscoperta di un capola- National Gallery of Art. voro è la realizzazione di un evento In alto, Cecilia Cavalca che resterà probabilmente irripetibi- e Mauro Natale «Nudo femminile di schiena» (1735 ca) di Pierre Subleyras e, sotto, il logo della mostra le. Nell’epico racconto di un «ritorno a casa», nel mistico ritrovarsi di quel Così, in una mostra vo- Venaria gruppo di santi eleganti e solenni, una lutamente concentrata squadra di campioni spirituali «ricon- e filologica, dove a in- vocata» dopo quasi 300 anni, c’è, infat- cantare è, come sempre ti, il sapore dell’impresa memorabile. dovrebbe essere, la rara Tra Barocco e C’è, insomma, aria di festa, a Bologna, qualità degli originali, nell’accogliere questa mostra, «La ri- l’unica concessione alla Neoclassicismo scoperta di un capolavoro. -
Design and Realization of a Humanoid Robot for Fast and Autonomous Bipedal Locomotion
TECHNISCHE UNIVERSITÄT MÜNCHEN Lehrstuhl für Angewandte Mechanik Design and Realization of a Humanoid Robot for Fast and Autonomous Bipedal Locomotion Entwurf und Realisierung eines Humanoiden Roboters für Schnelles und Autonomes Laufen Dipl.-Ing. Univ. Sebastian Lohmeier Vollständiger Abdruck der von der Fakultät für Maschinenwesen der Technischen Universität München zur Erlangung des akademischen Grades eines Doktor-Ingenieurs (Dr.-Ing.) genehmigten Dissertation. Vorsitzender: Univ.-Prof. Dr.-Ing. Udo Lindemann Prüfer der Dissertation: 1. Univ.-Prof. Dr.-Ing. habil. Heinz Ulbrich 2. Univ.-Prof. Dr.-Ing. Horst Baier Die Dissertation wurde am 2. Juni 2010 bei der Technischen Universität München eingereicht und durch die Fakultät für Maschinenwesen am 21. Oktober 2010 angenommen. Colophon The original source for this thesis was edited in GNU Emacs and aucTEX, typeset using pdfLATEX in an automated process using GNU make, and output as PDF. The document was compiled with the LATEX 2" class AMdiss (based on the KOMA-Script class scrreprt). AMdiss is part of the AMclasses bundle that was developed by the author for writing term papers, Diploma theses and dissertations at the Institute of Applied Mechanics, Technische Universität München. Photographs and CAD screenshots were processed and enhanced with THE GIMP. Most vector graphics were drawn with CorelDraw X3, exported as Encapsulated PostScript, and edited with psfrag to obtain high-quality labeling. Some smaller and text-heavy graphics (flowcharts, etc.), as well as diagrams were created using PSTricks. The plot raw data were preprocessed with Matlab. In order to use the PostScript- based LATEX packages with pdfLATEX, a toolchain based on pst-pdf and Ghostscript was used. -
Evaluating the Nao Robot in the Role of Personal Assistant: the Effect of Gender in Robot Performance Evaluation †
Proceedings Evaluating the Nao Robot in the Role of Personal Assistant: The Effect of Gender in Robot Performance Evaluation † Adrian Vega *, Kryscia Ramírez-Benavides, Luis A. Guerrero and Gustavo López Centro de Investigaciones en Tecnologías de la Información y Comunicación, Universidad de Costa Rica, 2060 San José, Costa Rica; [email protected] (K.R.-B.); [email protected] (L.A.G.); [email protected] (G.L.) * Correspondence: [email protected] † Presented at the 13th International Conference on Ubiquitous Computing and Ambient Intelligence UCAmI 2019, Toledo, Spain, 2–5 December 2019. Published: 20 November 2019 Abstract: By using techniques such as the Wizard of Oz (WoZ) and video capture, this paper evaluated the performance of the Nao Robot in the role of a personal assistant, which was valuated alongside the impact of the assigned gender (male/female) in the perceived performance of the robot assistant. Within a sample size of 39 computer sciences students, this study assessed criteria such as: perceived enjoyment, intention to use, perceived sociability, trust, intelligence, animacy, anthropomorphism, and sympathy, utilizing testing tools such as Unified Theory of Acceptance and Use of Technology (UTAUT) and Godspeed Questionnaire (GSQ). These methods identified a significant effect of the gender assigned to the robot in variables such as intelligence and sympathy. Keywords: human–robot interaction; HRI; HCI; UTAUT; GSQ; WoZ; gender 1. Introduction Starting as manufacturing machines, robots have opened to a wider application of areas such as education [1–3], personal assistance [4], health [5,6], and many others. Multiple research studies have described different elements to consider in the design of interactions with socially intelligent robots [6–9]. -
Ph. D. Thesis Stable Locomotion of Humanoid Robots Based
Ph. D. Thesis Stable locomotion of humanoid robots based on mass concentrated model Author: Mario Ricardo Arbul´uSaavedra Director: Carlos Balaguer Bernaldo de Quiros, Ph. D. Department of System and Automation Engineering Legan´es, October 2008 i Ph. D. Thesis Stable locomotion of humanoid robots based on mass concentrated model Author: Mario Ricardo Arbul´uSaavedra Director: Carlos Balaguer Bernaldo de Quiros, Ph. D. Signature of the board: Signature President Vocal Vocal Vocal Secretary Rating: Legan´es, de de Contents 1 Introduction 1 1.1 HistoryofRobots........................... 2 1.1.1 Industrialrobotsstory. 2 1.1.2 Servicerobots......................... 4 1.1.3 Science fiction and robots currently . 10 1.2 Walkingrobots ............................ 10 1.2.1 Outline ............................ 10 1.2.2 Themes of legged robots . 13 1.2.3 Alternative mechanisms of locomotion: Wheeled robots, tracked robots, active cords . 15 1.3 Why study legged machines? . 20 1.4 What control mechanisms do humans and animals use? . 25 1.5 What are problems of biped control? . 27 1.6 Features and applications of humanoid robots with biped loco- motion................................. 29 1.7 Objectives............................... 30 1.8 Thesiscontents ............................ 33 2 Humanoid robots 35 2.1 Human evolution to biped locomotion, intelligence and bipedalism 36 2.2 Types of researches on humanoid robots . 37 2.3 Main humanoid robot research projects . 38 2.3.1 The Humanoid Robot at Waseda University . 38 2.3.2 Hondarobots......................... 47 2.3.3 TheHRPproject....................... 51 2.4 Other humanoids . 54 2.4.1 The Johnnie project . 54 2.4.2 The Robonaut project . 55 2.4.3 The COG project . -
Examining the Use of Robots As Teacher Assistants in UAE
Volume 20, 2021 EXAMINING THE USE OF ROBOTS AS TEACHER ASSISTANTS IN UAE CLASSROOMS: TEACHER AND STUDENT PERSPECTIVES Mariam Alhashmi* College of Education, Zayed University, [email protected] Abu Dhabi, UAE Omar Mubin Senior Lecturer in Human Computer [email protected] Interaction, Sydney, Australia Rama Baroud Part-Time Research Assistant [email protected] * Corresponding author ABSTRACT Aim/Purpose This study sought to understand the views of both teachers and students on the usage of humanoid robots as teaching assistants in a specifically Arab context. Background Social robots have in recent times penetrated the educational space. Although prevalent in Asia and some Western regions, the uptake, perception and ac- ceptance of educational robots in the Arab or Emirati region is not known. Methodology A total of 20 children and 5 teachers were randomly selected to comprise the sample for this study, which was a qualitative exploration executed using fo- cus groups after an NAO robot (pronounced now) was deployed in their school for a day of revision sessions. Contribution Where other papers on this topic have largely been based in other countries, this paper, to our knowledge, is the first to examine the potential for the inte- gration of educational robots in the Arab context. Findings The students were generally appreciative of the incorporation of humanoid robots as co-teachers, whereas the teachers were more circumspect, express- ing some concerns and noting a desire to better streamline the process of bringing robots to the classroom. Recommendations We found that the malleability of the robot’s voice played a pivotal role in the for Practitioners acceptability of the robot, and that generally students did well in smaller Accepting Editor Minh Q. -
Advance Your Students Into the Future Secondary Education
ADVANCE YOUR STUDENTS INTO THE FUTURE SECONDARY EDUCATION www.active-robots.com/aldebaran STEP INTO THE FUTURE CLASSROOM Robotics is the fastest growing industry and most advanced technology used in education and research. The NAO humanoid robot is the ideal platform for MOTIVATE STUDENTS teaching or researching in Science and Technology. — IMPROVE LEARNING By using our NAO robotics platform, instructors and researchers EFFECTIVENESS stay current with major technical and commercial breakthroughs in — TEACH A JOB-CREATING FIELD programming and applied research. WHY STUDY A HUMANOID ROBOT? MAJOR INNOVATION MULTIDISCIPLINARY PLATFORM ROBOT & JOB-CREATING FIELD FOR TEACHING & RESEARCH FASCINATION — — — After Computer and Internet, Robotics is the new Computer sciences, mechanics, electronics, Humanoid robots have always fascinated people technological revolution. With ageing population and control are already at the core of the NAO especially students with new applications and and labour shortage, humanoid robots will be platform. Our curriculum used in conjunction incredible inventions. Now technology has made one of the solutions for people assistance thanks with NAO allows students to develop a structured a huge leap forward. Stemming from 6 years to their humanoid shape adapted to a world approach to finding solutions and adapting a wide of research, NAO is one of the most advanced made for humans. Educate students today using range of cross-sectional educational content. One humanoid robots ever created. He is fully the NAO platform for opportunities in robotics, example is for the instructor to assign students programmable, open and autonomous. engineering, computer science and technology. In to program NAO to grasp an object and lift it. -
Humanoid Navigation and Heavy Load Transportation in a Cluttered Environment Antoine Rioux, Wael Suleiman
Humanoid navigation and heavy load transportation in a cluttered environment Antoine Rioux, Wael Suleiman To cite this version: Antoine Rioux, Wael Suleiman. Humanoid navigation and heavy load transportation in a cluttered environment. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sep 2015, Hambourg, Germany. pp.2180-2186, 10.1109/IROS.2015.7353669. hal-01521584 HAL Id: hal-01521584 https://hal.archives-ouvertes.fr/hal-01521584 Submitted on 12 May 2017 HAL is a multi-disciplinary open access L’archive ouverte pluridisciplinaire HAL, est archive for the deposit and dissemination of sci- destinée au dépôt et à la diffusion de documents entific research documents, whether they are pub- scientifiques de niveau recherche, publiés ou non, lished or not. The documents may come from émanant des établissements d’enseignement et de teaching and research institutions in France or recherche français ou étrangers, des laboratoires abroad, or from public or private research centers. publics ou privés. Humanoid Navigation and Heavy Load Transportation in a Cluttered Environment Antoine Rioux and Wael Suleiman Abstract— Although in recent years several studies aimed at the navigation of robots in cluttered environments, just a few have addressed the problem of robots navigating while moving a large or heavy object. This is especially useful when transporting loads with variable weights and shapes without having to change the robot hardware. On one hand, a major advantage of using a humanoid robot to move an object is that it has arms to firmly grasp it and control it. On the other hand, humanoid robots tend to have higher drift than their wheeled counterparts as well as having significant lateral swing while walking, which propagates to anything they carry. -
Sample Thesis Title with a Concise and Accurate
ON EFFECTIVE HUMAN-ROBOT INTERACTION BASED ON RECOGNITION AND ASSOCIATION DISSERTATION Submitted by Avinash Kumar Singh In Partial Fulfillment of the Requirements For the Degree of DOCTOR OF PHILOSOPHY Under the Supervision of PROF. G.C. NANDI DEPARTMENT OF INFORMATION TECHNOLOGY भारतीय सचू ना प्रौद्योगिकी संथान INDIAN INSTITUTE OF INFORMATION TECHNOLOGY, ALLAHABAD (A centre of excellence in IT, estaइलाहाबादblished by M inistry of HRD, Govt. of India) 12 February 2016 INDIAN INSTITUTE OF INFORMATION TECHNOLOGY ALLAHABAD (A Centre of Excellence in Information Technology Established by Govt. of India) CANDIDATE DECLARATION I, Avinash Kumar Singh, Roll No. RS-110 certify that this thesis work entitled “On Effective Human - Robot Interaction based on Recognition and Association” is submitted by me in partial fulfillment of the requirement of the Degree of Doctor of Philosophy in Department of Information Technology, Indian Institute of Information Technology, Allahabad. I understand that plagiarism includes: 1. Reproducing someone else's work (fully or partially) or ideas and claiming it as one's own. 2. Reproducing someone else's work (Verbatim copying or paraphrasing) without crediting 3. Committing literary theft (copying some unique literary construct). I have given due credit to the original authors/ sources through proper citation for all the words, ideas, diagrams, graphics, computer programs, experiments, results, websites, that are not my original contribution. I have used quotation marks to identify verbatim sentences and given credit to the original authors/sources. I affirm that no portion of my work is plagiarized. In the event of a complaint of plagiarism, I shall be fully responsible.