Humanoid Robotics: A Reference Ambarish Goswami • Prahlad Vadakkepat Editors

Humanoid Robotics: A Reference

With 1147 Figures and 81 Tables

123 Editors Ambarish Goswami Prahlad Vadakkepat Intuitive Surgical National University of Singapore Sunnyvale, CA, USA Department of Electrical and Computer Engineering Singapore, Singapore

ISBN 978-94-007-6045-5 ISBN 978-94-007-6046-2 (eBook) ISBN 978-94-007-6047-9 (print and electronic bundle) https://doi.org/10.1007/978-94-007-6046-2

Library of Congress Control Number: 2018940267

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This Springer imprint is published by the registered company Springer Nature B.V. The registered company address is: Van Godewijckstraat 30, 3311 GX Dordrecht, The Netherlands To all the young researchers of humanoid robotics Preface

Bipedal walking is evident from the earliest homininis, but why our unique two-legged gait evolved the way it did remains a matter of conjecture. Bipedal locomotion is an energetically efficient form of locomotion. Endowed with four appendages, which is morphologically common among all mammals, bipedalism seems to be an optimal “middle ground” solution involving both locomotion and manipulation. Using all four extremities for mobility would severely reduce manipulation capabilities, whereas two appendages at a minimum seem to be necessary either for locomotion or for effective manipulation. Locomotion on only one leg, e.g., hopping, and manipulation with only one hand seems awkward. Moreover, for animals with more than four “legs,” coordination among appendages becomes a significant complicating factor both in locomotion and manipulation. Finally, bipedalism generally leads to a relatively slender body structure and a smaller “footprint” which are particularly suited for passing through narrow pathways and through terrain strewn with obstacles, quickly turning in place, being able to manipulate objects at a large range of heights, and seeing over obstacles. These features give bipedal posture an evolutionary advantage of keeping the head high for perceiving dangers and to safeguarding against predators. Bipedalism has additional advantages from survival perspective; when our hands are freed from weight-bearing and locomotion responsibilities, activities involving manipulation such as tool making, hunting with hand-held arms such as rocks and spears, and even the creation of art became possible. In the modern society, humans have built complex environments, tools, and equipments that are finely adapted for human use. Humanoid robots with human- like morphology and motion capabilities inherently have a greater compatibility in human environments. We hope that this reference book Humanoid Robotics: A Reference will act as a catalyst, expediting the process toward making better customized humanoids in the not-so-distant future. When planning contents for the book, we established a few goals for ourselves: (1) Comprehensive: The book should cover all the major topics surrounding humanoid robotics, (2) State of the art: The technical content should be current and even future-learning and, wherever possible, should include comments on open questions for future research, (3) High quality: Contributions are to be obtained from the best experts in the field, (4) Approachable: As much as possible, the contents should be understandable by an audience of

vii viii Preface younger researchers, those who are relatively new to the field or are considering entering the field, and finally (5) Lasting value: The book is intended to have a long lifespan and serve as a one-stop destination on the topic of Humanoid Robotics. Let us go over the overall structure and contents of Humanoid Robotics: A Reference. The reference book is organized in three volumes, which contain 11 Parts in total. Each Part focuses on a broad theme and consists of several chapters. Volume 1 of the book contains four Parts. Part 1, “History of Humanoid Robots,” contains 4 chapters; Part 2, “Development Story of 14 Famous Humanoid Robots,” contains 14 chapters; Part 3, “Humanoid Mechanism and Design,” contains 13 chapters; and finally Part 4, “Humanoid Kinematics and Dynamics,” contains 9 chapters, for a total of 946 pages. The first chapter of the Part “History of Humanoid Robots” is written by Profs. Siciliano and Khatib who are the Chief Editors of the Springer Handbook of Robotics; it provides a general overview of the contents of this reference book as well as history of humanoid robotics. The following three chapters explore perspectives of robotics research in three major geographic areas of the world, Asia, Europe, and America. Part 2, “Development Story of 14 Famous Humanoid Robots,” describes the technical story behind a selection of iconic humanoids that have pioneered development and helped shape the field. Many of these robots are well known due to their appearances over the years in museums, television, and news outlets across the world. Each contribution discusses a brief history of the robot, its design and capabilities, and the outcomes that led to seminal work. Part 3, “Humanoid Mechanism and Design,” is all about robot hardware. Starting from historical aspects of humanoid design, it focuses on individual limb mechanisms such as head and face, shoulder, arm and hand, leg, foot and toe. Then it presents examples of mechanism design of a number of existing whole-body humanoid robots. The part will conclude with a discussion and future directions in this area. Finally, the Part “Humanoid Kinematics and Dynamics” covers the unique aspects of kinematics and dynamics of humanoid robots. Starting from a historical perspective, the part reviews common concepts to modeling kinematics and dynamics. Next, it focusses on specifics of humanoid robots. Associated important topics including parameter estimation techniques and analogy with a human body kinematics/dynamics are also discussed. This Part concludes with a discussion on future directions in this area. Volume 2 of the book contains three parts: Parts 5, 6, and 7. Part 5, “Humanoid Control,” contains 15 chapters; Part 6, “Humanoid Balance,” contains 9 chapters; and the third and final Part of this volume, Part 7, “Humanoid Motion Planning, Optimization and Gait Generation” contains 12 chapters, for a total of 990 pages for this volume. The Part “Humanoid Control” represents a concerted effort to encapsulate the state of art in humanoid robot motion control from both theoretical and practical points of view. It reports on motion control principles for humanoids stabilization, locomotion, and whole body motion including methods which have taken inspira- tion from mechanics (ZMP, energy transfer, resolved momentum, and compliance control), from automatic (poincare stability and predictive control), from simplified Preface ix to more complex models, (inverted pendulum, cart table, multiple mass models, and passive walking systems) and from human neuromechanical motion control principles (central pattern generator and neural networks learning). Part 6 deals with the topic of “Humanoid Balance.” Balance is a generic term describing the ability to control the body posture in order to prevent falling. The need for balance control is one of the fundamental properties characterizing bipedal humanoid robots due to their limited supporting area provided by the feet. It involves whole body motion coordination based on multiple sensory data as well as controlling the motion response with respect to external perturbations during standing and walking. Physiological basis and biomechanical description of human balance are reviewed and compared to several state-of-the-art approaches developed in robotics research. Finally, the Part “Humanoid Motion Planning, Optimization and Gait Generation” covers advanced methods for planning global motion and also generating trajectories of humanoid robots, by taking into account their complexity in geometry, kinematics, and dynamics. This is a central topic in humanoid, and indeed, for all mobile robots because these robots are naturally expected to navigate through various environments and to execute useful tasks by coordinated motions of their arms and legs. The presented advanced techniques for humanoid robots include motion planning, walking pattern generation, motion optimization and related topics, as well as their integration in real hardware. Volume 3 contains four parts: Parts 8, 9, 10, and 11. Part 8, “Humanoid Simula- tions and Software,” contains 9 chapters, Part 9; “Human-Humanoid Interaction,” contains 13 chapters; Part 10, “Humanoid Sensing, Actuation and Intelligence,” contains 9 chapters; and finally, Part 11, “Application of Humanoids,” contains 6 chapters, with a total of 896 pages. The Part “Humanoid Simulations and Software” presents the state-of-the-art methods and systems related to simulating motions and behaviors of humanoid robots. Topics covered include algorithms for rigid body and contact dynamics, modeling and simulation of various elements composing humanoid robots, and software architecture to efficiently handle virtual and real robots. It also gives a comprehensive overview of publicly available software systems so that readers can choose appropriate simulators for their research. The Part “Human-Humanoid Interaction” presents a number of modalities in which interaction between a human and a humanoid can be carried out. A human can interact with a robot using movement, speech and language, symbolic gestures, and physical interaction, which are all described in this Part. The next Part “Humanoid Sensing, Actuation and Intelligence” explores the fundamental principles in the main types of sensors and servos used in humanoid actuation. The sensors on the humanoid robots are used to measure the current state of the robot and its environment. There are internal sensors to measure the state of the robot such as joint angles, velocities, and joint torques. IMU sensors including accelerometers and rate gyros are used to sense the posture of robot body similar to a human vestibular organ. Interaction between the robot and environment can be detected through tactile and force/torque sensors. Vision and range sensors measure and estimate the environment information around the robot. The final Part of the book, “Application of Humanoids” explores actual applications x Preface of humanoid robots in the human society. The possibilities are many and we have to work tirelessly toward making humanoids a beneficial and financially justified technical solution. It would be incorrect to say that the preparation of this reference book was an easy task. We started with very little experience of handling a project of such large magnitude, and we mostly learned while on the task. In retrospect, ignorance is indeed a useful thing, because if we had a clear measure of the size of the task and its demand on our time, it would have given us an introspective pause. Nevertheless, working on the book gave us an amazing opportunity of interacting with all the brilliant minds in the world of humanoid robotics; that is definitely a concrete bonus for us. The authors’ list attests to the fact that the book has brought together the very top researchers of the field. This gives us tremendous satisfaction. Our sincere thanks go to each of the 199 contributors. The task of preparing the book was made simpler by the generous help from the Part Editors, 27 in all, who are to be credited for coordinating with the individual contributors of their respective Part and managing the technical review process of each chapter. The majority of Part Editors are faculty members or members of research labs, and a project of this nature does not directly contribute to their tenure evaluation or their effort in securing research funding. Despite this, the Part Editors accepted their role with sincerity and managed each step of the process with diligence. We cannot thank them enough. The selection of these Part Editors has probably been the most important contribution of the Editors in Chief. Last but not least, we would like to thank the publication team of Springer for their great sustaining efforts in publishing this book. They know how instrumental their help has been in so many aspects of the project. Yet in all their day-to-day interactions, even when we were missing our deadlines by a mile, they continued to be nice and friendly. It was a pleasure to work with them.

Intuitive Surgical, USA Ambarish Goswami NUS, Singapore Prahlad Vadakkepat Contents

Volume 1 PartI HistoryofHumanoidRobots...... 1

Humanoid Robots: Historical Perspective, Overview, and Scope ...... 3 Bruno Siciliano and Oussama Khatib Historical Perspective of Humanoid Robot Research in the Americas ...... 9 Stefan Schaal Historical Perspective of Humanoid Robot Research in Europe ...... 19 Yannick Aoustin, Christine Chevallereau, and Jean-Paul Laumond Historical Perspective of Humanoid Robot Research in Asia ...... 35 Atsuo Takanishi

Part II Development Story of 14 Famous Humanoid Robots ...... 53

ASIMO and Humanoid Robot Research at Honda ...... 55 Satoshi Shigemi MIT Cog ...... 91 Brian Scassellati HRP-4 and Other HRP Robots ...... 101 Shuuji Kajita History of HUBO: Korean Humanoid Robot ...... 117 Jung-Woo Heo, Jungho Lee, In-Ho Lee, Jeongsoo Lim, and Jun-Ho Oh Johnnie and LOLA: The TUM Bipeds ...... 131 Thomas Buschmann and Michael Gienger NAO ...... 147 Rodolphe Gelin The PETMAN and Atlas Robots at Boston Dynamics ...... 169 Gabe Nelson, Aaron Saunders, and Robert Playter xi xii Contents

Sony QRIO ...... 187 Kenichiro Nagasaka Robonaut, Valkyrie, and NASA Robots ...... 201 John Yamokoski and Nicolaus Radford Toyota Partner Robots ...... 215 Masahiro Doi and Yuichiro Nakajima WABIAN and Other Waseda Robots ...... 265 Kenji Hashimoto and Atsuo Takanishi iCub ...... 291 Lorenzo Natale, Chiara Bartolozzi, Francesco Nori, Giulio Sandini, and Giorgio Metta Sarcos Robots ...... 325 Fraser Smith The Karlsruhe ARMAR Humanoid Robot Family ...... 337 Tamim Asfour, Rüdiger Dillmann, Nikolaus Vahrenkamp, Martin Do, Mirko Wächter, Christian Mandery, Peter Kaiser, Manfred Kröhnert, and Markus Grotz

PartIII HumanoidMechanismandDesign...... 369

Introduction: Humanoid Mechanism and Design ...... 371 Kensuke Harada Leg Mechanism of LOLA ...... 377 Sebastian Lohmeier Compliant Leg Mechanism of Coman ...... 407 Nikos G. Tsagarakis, Gustavo Medrano Cerda, and Darwin G. Caldwell Human-Like Toe Joint Mechanism ...... 435 Ko Yamamoto Wire Driven Multi-fingered Hand ...... 457 Hiroshi Kaminaga DLR Multi-fingered Hands...... 481 Markus Grebenstein, Maxime Chalon, Máximo A. Roa, and Christoph Borst Underactuation with Link Mechanisms ...... 523 Clément Gosselin BarrettHand Grasper: Programmably Flexible Part Handling and Assembly ...... 535 William T. Townsend Contents xiii

Human-Like Hand Mechanism ...... 553 Ashish D. Deshpande Human-Like Face and Head Mechanism ...... 571 Tatsuhiro Kishi, Kenji Hashimoto, and Atsuo Takanishi Mechanism Design of Human-Like HRP-4C ...... 597 Shuuji Kajita Mechanism Design Outline of Hubo ...... 615 Taejin Jung, Jeongsoo Lim, Hyoin Bae, and Jun-Ho Oh Mechanism Design of DLR Humanoid Robots ...... 637 Christian Ott, Máximo A. Roa, Florian Schmidt, Werner Friedl, Johannes Englsberger, Robert Burger, Alexander Werner, Alexander Dietrich, Daniel Leidner, Bernd Henze, Oliver Eiberger, Alexander Beyer, Berthold Bäuml, Christoph Borst, and Alin Albu-Schäffer

PartIV HumanoidKinematicsandDynamics ...... 663

Historical Perspective and Scope ...... 665 Tomomichi Sugihara Differential Kinematics ...... 675 Dragomir Nenchev Dynamics Analysis: Equations of Motion ...... 723 Tomomichi Sugihara and Yasutaka Fujimoto Dynamic Formulations and Computational Algorithms...... 755 Hubert Gattringer and Andreas Mueller Contact Dynamics ...... 785 Tomomichi Sugihara Reduced-Order Models ...... 811 Tomomichi Sugihara and Katsu Yamane Calibration and Parameter Estimation ...... 849 Gentiane Venture and Ko Ayusawa A Comparative Study Between Humans and Humanoid Robots ...... 873 Katsu Yamane and Akihiko Murai Humanoid Kinematics and Dynamics: Open Questions and Future Directions ...... 893 Michael Gienger and Jochen J. Steil xiv Contents

Volume 2 PartV HumanoidControl ...... 903

Linear Inverted Pendulum-Based Gait ...... 905 Shuuji Kajita Gait Based on the Spring-Loaded Inverted Pendulum ...... 923 Hartmut Geyer and Uluc Saranli Limit Cycle Gaits ...... 949 Fumihiko Asano Neuromuscular Control Models of Human Locomotion ...... 979 Hartmut Geyer and André Seyfarth Compliance/Impedance Control Strategy for Humanoids ...... 1009 Jong Hyeon Park Passivity-Based Control Strategy for Humanoids ...... 1029 Jong Hyeon Park Virtual Constraints and Hybrid Zero Dynamics for Realizing Underactuated Bipedal Locomotion ...... 1045 Jessy W. Grizzle and Christine Chevallereau Model Predictive Control ...... 1077 Pierre-Brice Wieber CPG-Based Control of Humanoid Robot Locomotion ...... 1099 Florin Dzeladini, Nadine Ait-Bouziad, and Auke Ijspeert Humanoid Body Control Using Neural Networks and Fuzzy Logic ...... 1135 Dilip Kumar Pratihar, V. Pandu Ranga, and Rega Rajendra Whole-Body Control of Humanoid Robots ...... 1161 Federico L. Moro and Luis Sentis Reflex Control ...... 1185 Riadh Zaier Toward a Codesign Approach for Versatile and Energy-Efficient Humanoid Robots ...... 1221 Jean-Paul Laumond and Mehdi Benallegue Principles of Energetics and Stability in Legged Locomotion ...... 1231 Jeremy D. Wong and J. Maxwell Donelan Learning Control ...... 1261 Sylvain Calinon and Dongheui Lee Contents xv

Part VI Humanoid Balance ...... 1313

Introduction to Humanoid Balance ...... 1315 Jerry E. Pratt, Christian Ott, and Sang-Ho Hyon Human Sense of Balance ...... 1323 Thomas Mergner and Robert J. Peterka Torque-Based Balancing ...... 1361 Christian Ott and Sang-Ho Hyon Angular Momentum-Based Balance Control ...... 1387 Sung-Hee Lee, Andreas Hofmann, and Ambarish Goswami Stepping for Balance Maintenance Including Push-Recovery ...... 1419 Jerry E. Pratt, Sylvain Bertrand, and Twan Koolen Feedback Control of Inverted Pendulums ...... 1467 Shuuji Kajita Technical Implementations of the Sense of Balance ...... 1489 Michael Bloesch and Marco Hutter Balancing via Position Control...... 1519 Youngjin Choi, Yonghwan Oh, and Giho Jang Optimization-Based Control Approaches to Humanoid Balancing ..... 1541 Aurélien Ibanez, Philippe Bidaud, and Vincent Padois

Part VII Humanoid Motion Planning, Optimization, and Gait Generation ...... 1569

Introduction: Motion Planning, Optimization, and Biped Gait Generation...... 1571 Eiichi Yoshida and Katja Mombaur Whole-Body Motion Planning ...... 1575 Eiichi Yoshida, Fumio Kanehiro, and Jean-Paul Laumond Obeying Constraints During Motion Planning ...... 1601 Dmitry Berenson Manipulation and Task Execution by Humanoids ...... 1633 Kensuke Harada and Máximo A. Roa Human Motion Imitation ...... 1657 Dana Kulic´ Principles Underlying Locomotor Trajectory Formation ...... 1679 Manish Sreenivasa, Jean-Paul Laumond, Katja Mombaur, and Alain Berthoz xvi Contents

Biped Footstep Planning ...... 1697 Nicolas Perrin Adaptive Locomotion on Uneven Terrains ...... 1719 Kris Hauser SLAM and Vision-based Humanoid Navigation ...... 1739 Olivier Stasse Multi-contact Motion Planning and Control ...... 1763 Karim Bouyarmane, Stéphane Caron, Adrien Escande, and Abderrahmane Kheddar Humanoid Motion Optimization ...... 1805 Katja Mombaur Humanoid Motion Planning, Optimization, and Gait Generation: Open Questions and Future Directions ...... 1843 Katja Mombaur and Eiichi Yoshida

Volume 3 Part VIII Humanoid Simulation and Software ...... 1849

Humanoid Simulation and Software: Overview ...... 1851 Katsu Yamane Multi-body Simulation ...... 1855 Katsu Yamane Contact Simulation ...... 1877 Evan Drumwright and Jeffrey C. Trinkle Collision Detection ...... 1933 Young J. Kim, Ming C. Lin, and Dinesh Manocha Actuator Modeling and Simulation ...... 1957 Jörn Malzahn, Victor Barasuol, and Klaus Janschek Sensor Calibration, Modeling, and Simulation ...... 2007 Qianli Ma and Gregory S. Chirikjian Simulation for Control ...... 2043 KangKang Yin, Libin Liu, and Michiel van de Panne Simulation for AI ...... 2087 Tadahiro Taniguchi Free Simulation Software and Library ...... 2111 Barkan Ugurlu and Serena Ivaldi Contents xvii

Part IX Human-Humanoid Interaction ...... 2131

Human-Humanoid Interaction: Overview ...... 2133 Guido Herrmann and Ute Leonards Joint Action in Humans: A Model for Human-Robot Interaction ...... 2149 Arianna Curioni, Gunther Knoblich, and Natalie Sebanz Movement-Based Communication for Humanoid-Human Interaction ...... 2169 Giulio Sandini, Alessandra Sciutti, and Francesco Rea Enriching the Human-Robot Interaction Loop with Natural, Semantic, and Symbolic Gestures ...... 2199 Katrin Solveig Lohan, Hagen Lehmann, Christian Dondrup, Frank Broz, and Hatice Kose Applications in HHI: Physical Cooperation ...... 2221 Markus Rickert, Andre Gaschler, and Alois Knoll Speech and Language in Humanoid Robots ...... 2261 Angelo Cangelosi and Tetsuya Ogata Human-Robot Teaming: Approaches from Joint Action and Dynamical Systems ...... 2293 Tariq Iqbal and Laurel D. Riek Embodiment, Situatedness, and Morphology for Humanoid Robots Interacting with People ...... 2313 Blanca Miller and David Feil-Seifer Empathy as Signalling Feedback Between Humanoid Robots and Humans ...... 2337 Tatsuya Nomura Dynamic Control for Human-Humanoid Interaction ...... 2347 S. G. Khan, S. Bendoukha, and M. N. Mahyuddin Assistive Humanoid Robots for the Elderly with Mild Cognitive Impairment ...... 2377 François Ferland, Roxana Agrigoroaie, and Adriana Tapus Safe and Trustworthy Human-Robot Interaction ...... 2397 Dejanira Araiza-Illan and Kerstin Eder Ethical Issues of Humanoid-Human Interaction ...... 2421 Rafael Capurro xviii Contents

Part X Humanoid Sensing, Actuation, and Intelligence ...... 2437

Pneumatic Prime Movers ...... 2439 Tim Swift Transmissions ...... 2447 Christopher McQuin Importance of Humanoid Robot Detection ...... 2463 Taher Abbas Shangari, Soroush Sadeghnejad, and Jacky Baltes Humanoid Multi-robot Systems...... 2473 John E. Anderson Multi-Axis Force-Torque Sensor ...... 2483 Jung-Hoon Kim Applications of IMU in Humanoid Robot ...... 2497 Qiang Huang and Si Zhang Range Sensors: Ultrasonic Sensors, Kinect, and LiDAR ...... 2521 Jongmoo Choi Tactile Sensing ...... 2539 Lorenzo Natale and Giorgio Cannata Sensor Fusion and State Estimation of the Robot ...... 2563 Francesco Nori, Silvio Traversaro, and Maurice Fallon

Part XI Applications of Humanoids ...... 2593

Humanoid Robot Applications: Introduction ...... 2595 Rodolphe Gelin and Jean-Paul Laumond Humanoid Robots for Entertainment ...... 2599 Steven “Mouse” Silverstein and Katsu Yamane Humanoid Robots in Education: A Short Review ...... 2617 Amit Kumar Pandey and Rodolphe Gelin Application of Nextage: Next-Generation Industrial Robot ...... 2633 Kensuke Harada Toward New Humanoid Applications: Wearable Device Evaluation Through Human Motion Reproduction ...... 2645 Eiichi Yoshida, Ko Ayusawa, Yumeko Imamura, and Takayuki Tanaka Inclusion of Humanoid Robots in Human Society: Ethical Issues ...... 2665 Raja Chatila

Index ...... 2675 About the Editors

Ambarish Goswami is a Principal Systems Analyst at Intuitive Surgical, California, where he is working on current and future generation da Vinci surgical robotics system, especially on improving human-robot interac- tion and user-experience aspects. Before joining Intuitive Surgical, Ambarish was a Principal Scientist at Honda Research Institute. At Honda, Ambarish performed research in humanoid robots, assistive exoskeletons, mechatronics, and vehi- cles dynamics. Most recently, he led the System Inte- gration and Control Group for self-driving car activities (AD/ADAS), and in 2015 his team successfully demon- strated sensor and GPS-mediated autonomous driving in an experimental urban setting in California. Ambarish received the Bachelor’s degree from Jadavpur University, Kolkata, India, the Master’s degree from Drexel University, Philadelphia, PA, and the Ph.D. degree from Northwestern University, Evanston, IL, all in Mechanical Engineering. Ambarish Goswami’s Ph.D. work, under Prof. Michael Peshkin, was in the area of automated assem- bly and robot-assisted total knee-replacement surgery, which was one of the earliest works in the field. For four years following his Ph.D. Ambarish worked at the INRIA Laboratory in Grenoble, France, as a per- manent scientific staff (Charge de Recherche). He was a member of “BIP” Project which developed the first anthropomorphic biped robot in France. Subsequently, he became an IRCS Fellow at the Center for Human Modeling and Simulation at the University of Pennsyl- vania, where he worked with Profs. Norm Badler and Dimitris Metaxas. He then worked at Autodesk in San Francisco in the exclusive core development team for

xix xx About the Editors

the leading animation software 3D Studio Max. His area was human arm kinematics, inverse kinematics, constraint systems, and dynamics. Ambarish has held visiting faculty positions at the Ohio State University and the University of Illinois at Urbana-Champaign for short periods. With Prof. Bernard Espiau, Ambarish is an origi- nator of the Compass Gait Model, which is popular among scientists for simplified analysis of locomotion in human and biped robots. Ambarish introduced the Reaction Mass Pendulum (RMP) model which is use- ful for the understanding and exploitation of angular momentum and other inertial effects. Ambarish has also contributed to the understanding of humanoid robot balance and introduced the Foot Rotation Indicator (FRI) point and Centroidal Moment Pivot (CMP), the latter with Marko Popovich and Hugh Herr, as well as Centroidal Angular Momen- tum, with David Orin. In the field of human-assist exoskeletons, Ambarish and his colleagues developed the frameworks of Admittance Shaping Control and motion amplification. Ambarish has more than 90 publications with a total of more than 8300 Google Scholar citations, and an h-index of 39; he also has 24 patents. Ambarish has served in the Editorial Boards of IEEE/ASME Transactions on Mechatronics, Journal of Humanoid Robotics (World Scientific), and Robotica (Cambridge University Press). Ambarish is an ASME Fellow (2013).

Prahlad Vadakkepat, an Associate Professor at the National University of Singapore, is the founder sec- retary of the Federation of International Robot-soccer Association and was its General Secretary during 2000–2016. Vadakkepat’s work in FIRA has led to several start-ups in robotics and embedded systems. His humanoid robots and robot soccer teams have consis- tently won several international prizes: First prize and overall championship in humanoid robot soccer at the FIRA Robot World Cup (Germany 2006, Singapore 2005, and Austria 2003), First Prize (open category) in Singapore Robotic Games (2004), and Second prize in FIRA 2004. About the Editors xxi

He was the General Chair to the FIRA Robot World Cup and Congress Singapore 2005, General Program Chair to FIRA Robot World Congress Incheon 2009, and General Chair to FIRA Robot World Cup and Congress Bangalore 2010. He was the Founder Direc- tor to an entrepreneurial start-up “Robhatah Robotic Solutions” at Singapore and Bangalore. He is a Senior Member of IEEE (USA, since 2005) and a life member of the IEEE HKN honor society. He was the Secretary to the IEEE Singapore Section in 2005. He had served as Technical Activity Coordinator to the IEEE Region 10 (Asia-Pacific) during 2001– 2002. He is a Fellow of the Institute of Electronics and Telecommunications Engineers (IETE), India. He is a nominated member of the Loka Kerala Sabha (World Kerala Assembly) initiated by Govt. of Kerala. He is one of the resource persons in the Igniting Minds Movement by Vijyana Bharathi India (VIBHA) which is a program enabling students to shed conventions and think out of the box. He has produced a full length feature film in Malayalam language which has received accolades at international film festivals. Dr. Prahlad Vadakkepat received the B.Eng. degree in Electrical Engineering from Calicut University, Ker- ala, in 1986, and the M.Tech. and Ph.D. degrees from the Indian Institute of Technology, Madras, in 1989 and 1996, respectively. Since 1999, he is with the National University of Singapore. His research interests include robotics, AI, humanoid robotics, and frugal innovation. Part Editors

History of Humanoid Robots

Prof. Bruno Siciliano Department of Electrical Engineering and Information Technology, University of Naples Federico II, Naples, Italy

Prof. Oussama Khatib Robotics Laboratory, Department of Computer Science, Stanford University, Stanford, CA, USA

xxiii xxiv Part Editors

Development Story of 14 Famous Humanoid Robots

Prof. Paul Oh Endowed Lincy Professor of Unmanned Aerial Systems, University of Nevada Las Vegas, Las Vegas, NV, USA

Prof. Tamim Asfour High Performance Humanoid Technologies, Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Ger- many

Dr. Hiro Hirukawa National Institute of Advanced Industrial Science and Technol- ogy (AIST), Tsukuba, Japan Part Editors xxv

Humanoid Mechanism and Design

Prof. Kensuke Harada Department of Systems Innovation, Graduate School of Engineering Science, Osaka University, Toyonaka, Japan

Humanoid Kinematics and Dynamics

Dr. Michael Gienger Honda Research Institute Europe GmbH, Offenbach, Germany

Prof. Luis Sentis Human Centered Robotics Laboratory, The University of Texas at Austin, Austin, TX, USA xxvi Part Editors

Prof. Tomomichi Sugihara Osaka University, Osaka, Japan

Humanoid Control

Dr. Nikos G. Tsagarakis Humanoids and Human Centred Mechatronics Research Line, Istituto Italiano di Tecnologia (IIT-Genova), Genova, Italy

Dr. Christine Chevallereau CNRS, Laboratory of Digital Sciences of Nantes (LS2N), Ecole Centrale de Nantes, Nantes, France Part Editors xxvii

Dr. Kazuhito Yokoi National Institute of Advanced Industrial Science and Tech- nology (AIST), Humanoid Research Group, Tsukuba, Japan

Humanoid Balance

Dr. Christian Ott Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany

Prof. Sang-Ho Hyon Department of Robotics, Ritsumeikan University, Shiga, Kusatsu-shi, Japan xxviii Part Editors

Dr. Jerry E. Pratt Institute for Human and Machine Cognition, Pensacola, FL, USA

Humanoid Motion Planning, Optimization, and Gait Generation

Dr. Eiichi Yoshida National Institute of Advanced Industrial Science and Tech- nology (AIST), CNRS-AIST JRL (Joint Robotics Laboratory), Umezono, Ibaraki, Japan

Prof. Katja Mombaur Optimization, Robotics and Biomechanics, Institute of Computer Engineering, Heidelberg University, Heidelberg, Germany Part Editors xxix

Humanoid Simulation and Software

Dr. Katsu Yamane Honda Research Institute USA, Mountain View, CA, USA

Dr. Stelian Coros Robotics Institute, Carnegie Mellon School of Computer Science, Carnegie Mellon University, Pittsburgh, PA, USA

Human-Humanoid Interaction

Dr. Guido Herrmann Department of Mechanical Engineering, University of Bristol, Bristol, UK xxx Part Editors

Dr. Ute Leonards School of Experimental Psychology, University of Bristol, Bristol, UK

Humanoid Sensing, Actuation, and Intelligence

Prof. Jaeheung Park Department of Transdisciplinary Studies, Seoul National University, Suwon-si, Gyeonggi-do, Korea

Prof. Jung-Hoon Kim Construction Robot and Automation Laboratory, Depart- ment of Civil and Environmental Engineering, Yonsei University, Seoul, South Korea Part Editors xxxi

Prof. Jacky Baltes Department of Electrical Engineering, National Taiwan Normal University, National Taiwan Normal University 3 Educational Robotics Center, Taipei, Taiwan

Applications of Humanoids

Prof. Rodolphe Gelin SoftBank Robotics, Paris, France

Dr. Masahiro Doi Partner Robot Division, Toyota Motor Corporation, Advanced Technology Engineering Department, Toyota, Japan xxxii Part Editors

Dr. Jean-Paul Laumond LAAS-CNRS, Toulouse, France Contributors

Roxana Agrigoroaie Robotics and Computer Vision Lab, U2IS, ENSTA- ParisTech, Palaiseau Cedex, France Nadine Ait-Bouziad Laboratory of Molecular and Chemical Biology of Neurode- generation, École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland Alin Albu-Schäffer Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany John E. Anderson Department of Computer Science, University of Manitoba, Winnipeg, MB, Canada Yannick Aoustin Laboratoire Des Sciences du Numérique de Nantes, (LSN2) UMR CNRS 6004, Université de Nantes UFR des Sciences et Techniques de Nantes, Nantes Cedex 3, France Dejanira Araiza-Illan Department of Computer Science, University of Bristol, Bristol, UK Fumihiko Asano School of Information Science, Japan Advanced Institute of Science and Technology, Ishikawa, Japan Tamim Asfour High Performance Humanoid Technologies, Institute for Anthro- pomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany Ko Ayusawa CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/RL, Intel- ligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Ibaraki, Japan Hyoin Bae Division of Mechanical Engineering, School of Mechanical, Aerospace & Systems Engineering, KAIST, Daejeon, South Korea Jacky Baltes National Taiwan Normal University 3 Educational Robotics Center, Department of Electrical Engineering, National Taiwan Normal University, Taipei, Taiwan Victor Barasuol Department of Advanced Robotics, Istituto Italiano di Tecnolo- gia, Genoa, Italy Chiara Bartolozzi iCub Facility, Istituto Italiano di Tecnologia, Genova, Italy xxxiii xxxiv Contributors

Berthold Bäuml Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany Mehdi Benallegue AIST, Tsukuba, Ibaraki, Japan S. Bendoukha Department of Electrical Engineering, College of Engineering Yanbu, Taibah University, Yanbu Branch, Yanbu, Saudi Arabia Dmitry Berenson Department of Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, MI, USA Alain Berthoz CNRS, Collège de France, Paris, France Sylvain Bertrand Institute for Human and Machine Cognition, Pensacola, FL, USA Alexander Beyer Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany Philippe Bidaud CNRS UMR 7222, Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Universitès, UPMC Univ Paris 06, Paris Cedex 05, France ONERA, Palaiseau, France Michael Bloesch Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland Christoph Borst Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany Karim Bouyarmane CNRS, Inria Nancy - Grand Est, Loria UMR 7503, Larsen team, Université de Lorraine, Vandœuvre-Lès-Nancy, France Frank Broz School of Mathematical and Computer Sciences, Heriot-Watt Univer- sity, Edinburgh, UK Robert Burger Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany Thomas Buschmann Institute of Applied Mechanics, Technische Universität München, Garching, Germany Darwin G. Caldwell Istituto Italiano di Tecnologia (IIT-Genova), Advanced Robotics, Genova, Italy Sylvain Calinon Idiap Research Institute, Martigny, Switzerland Angelo Cangelosi Centre for Robotics and Neural Systems, School of Computing and Mathematics, Plymouth University, Plymouth, UK Department of Intermedia Art and Science, Faculty of Science and Engineering, Waseda University, Tokyo, Japan Giorgio Cannata DIBRIS, Università degli Studi di Genova, Genova, Italy Contributors xxxv

Rafael Capurro International Center for Information Ethics (ICIE), Karlsruhe, Germany Stéphane Caron Interactive Digital Human (IDH), CNRS-University of Montpel- lier, Montpellier, France Maxime Chalon Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany Raja Chatila UPMC Univ Paris 6, CNRS, Institut des Systemes Intelligents et de Robotique (ISIR), Sorbonne Universités, Paris, France Christine Chevallereau Laboratoire des Sciences du Numérique de Nantes (LS2N), UMR CNRS 6004, CNRS, Nantes Cedex 3, France Gregory S. Chirikjian Robot and Protein Kinematics Laboratory, Laboratory for Computational Sensing and Robotics, Department of Mechanical Engineering, The Johns Hopkins University, Baltimore, MD, USA Jongmoo Choi Department of Computer Science, University of Southern Califor- nia, Los Angeles, CA, USA Youngjin Choi School of Electrical Engineering, Hanyang University, Ansan, South Korea Arianna Curioni Department of Cognitive Science, Central European University, Budapest, Hungary Ashish D. Deshpande Mechanical Engineering, The University of Texas at Austin, Austin, TX, USA Alexander Dietrich Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany Rüdiger Dillmann High Performance Humanoid Technologies, Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany Martin Do High Performance Humanoid Technologies, Institute for Anthropomat- ics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany Masahiro Doi Advanced Technology Engineering Department, Partner Robot Division, Toyota Motor Corporation, Toyota, Japan Christian Dondrup School of Mathematical and Computer Sciences, Heriot-Watt University, Edinburgh, UK J. Maxwell Donelan Department of Biomedical Physiology and Kinesiology, Simon Fraser University, Burnaby, Canada Evan Drumwright Toyota Research Institute, Los Altos, CA, USA Florin Dzeladini BioRob, School of Engineering, Institute of Bioengineering, École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland xxxvi Contributors

Kerstin Eder Department of Computer Science, University of Bristol, Bristol, UK Oliver Eiberger Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany Johannes Englsberger Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany Adrien Escande CNRS-AIST Joint Robotics Laboratory (JRL), Tsukuba, Japan Maurice Fallon Oxford Robotics Institute, University of Oxford, Oxford, UK Robot Perception Group, University of Edinburgh, Edinburgh, UK David Feil-Seifer Department of Computer Science & Engineering, University of Nevada, Reno, Reno, NV, USA François Ferland Robotics and Computer Vision Lab, U2IS, ENSTA-ParisTech, Palaiseau Cedex, France Werner Friedl Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany Yasutaka Fujimoto Department of Electrical and Computer Engineering, Yoko- hama National University, Yokohama, Japan Andre Gaschler fortiss, An-Institut Technische Universität München, München, Germany Hubert Gattringer Institute of Robotics, Johannes Kepler University, Linz, Austria Rodolphe Gelin Innovation Department, SoftBank Robotics Europe, Paris, France Hartmut Geyer Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA Michael Gienger Honda Research Institute Europe GmbH, Offenbach am Main, Germany Clément Gosselin Department of Mechanical Engineering, Université Laval, Québec, QC, Canada Ambarish Goswami Intuitive Surgical, Sunnyvale, CA, USA Markus Grebenstein Department of Mechatronic Components and Systems, Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany Jessy W. Grizzle Department of Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, MI, USA Markus Grotz High Performance Humanoid Technologies, Institute for Anthro- pomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany Contributors xxxvii

Kensuke Harada Graduate School of Engineering Science, Osaka University, Osaka, Japan Department of Systems Innovation, Graduate School of Engineering Science, Osaka University, Toyonaka, Japan Kenji Hashimoto Waseda University, Shinjuku-ku, Tokyo, Japan Kris Hauser Electrical and Computer Engineering (ECE), Mechanical Engineer- ing and Materials Science (MEMS), Duke University, Durham, NC, USA Bernd Henze Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany Jung-Woo Heo Department of Humanoid Research, Rainbow Robotics, Deajeon, South Korea Guido Herrmann Department of Mechanical Engineering, University of Bristol, Bristol, UK Bristol Robotics Laboratory, Joint Facility of the University of the West of England and the University of Bristol, Bristol, UK Andreas Hofmann DOLL Inc., Lexington, MA, USA MIT CSAIL, Cambridge, MA, USA Qiang Huang Intelligent Robotics Institute, Beijing Institute of Technology, Bei- jing, China Marco Hutter Robotic Systems Lab, ETH Zurich, Zurich, Switzerland Sang-Ho Hyon Department of Robotics, Ritsumeikan University, Shiga, Kusatsu- shi, Japan Aurélien Ibanez CNRS UMR 7222, Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Universitès, UPMC Univ Paris 06, Paris Cedex 05, France Auke Ijspeert BioRob, School of Engineering, Institute of Bioengineering, École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland Yumeko Imamura CNRS-AIST JRL (Joint Robotics Laboratory) UMI3218/RL, Intelligent Systems Research Institute, Tsukuba, Ibaraki, Japan Tariq Iqbal Department of Computer Science and Engineering, University of California San Diego, La Jolla, CA, USA Serena Ivaldi Inria, Villers-les-Nancy, France Intelligent Autonomous Systems Lab, TU Darmstadt, Germany Giho Jang Department of Mechanical Engineering, University of Nevada, Las Vegas, Nevada, USA xxxviii Contributors

Klaus Janschek Faculty of Electrical and Computer Engineering, Institute of Automation, Technische Universität Dresden, Dresden, Germany Taejin Jung Division of Mechanical Engineering, School of Mechanical, Aerospace & Systems Engineering, KAIST, Daejeon, South Korea Peter Kaiser High Performance Humanoid Technologies, Institute for Anthropo- matics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany Shuuji Kajita Humanoid Research Group, Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan Hiroshi Kaminaga Humanoid Research Group, Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Ibaraki, Japan Fumio Kanehiro Humanoid Research Group, National Institute of Advanced Industrial Science and Technology (AIST), Ibaraki, Japan S. G. Khan Department of Mechanical Engineering, College of Engineering Yanbu, Taibah University, Yanbu Branch, Yanbu, Saudi Arabia Oussama Khatib Robotics Laboratory, Department of Computer Science, Stan- ford University, Stanford, CA, USA Abderrahmane Kheddar Interactive Digital Human (IDH), CNRS-University of Montpellier, Montpellier, France CNRS-AIST Joint Robotics Laboratory (JRL), Tsukuba, Japan Young J. Kim Department of Computer Science and Engineering, Ewha Womans University, Seoul, South Korea Jung-Hoon Kim Construction Robot and Automation Laboratory, Department of Civil and Environmental Engineering, Yonsei University, Seoul, South Korea Tatsuhiro Kishi Waseda University, Tokyo, Japan Gunther Knoblich Department of Cognitive Science, Central European Univer- sity, Budapest, Hungary Alois Knoll fortiss, An-Institut Technische Universität München, München, Ger- many Twan Koolen Massachusetts Institute of Technology, Cambridge, MA, USA Hatice Kose Istanbul Technical University, Istanbul, Turkey Manfred Kröhnert High Performance Humanoid Technologies, Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany Contributors xxxix

Dana Kulic´ Department of Electrical and Computer Engineering, University of Waterloo, Waterloo, ON, Canada Jean-Paul Laumond LAAS-CNRS, University of Toulouse, Toulouse, France Dongheui Lee Department of Electrical and Computer Engineering, Technical University of Munich, München, Germany Institute of Robotics and Mechatronics, German Aerospace Center, We“ling, Germany In-Ho Lee Division of Mechanical Engineering, School of Mechanical, Aerospace & Systems Engineering, KAIST, Daejeon, South Korea Jungho Lee Department of Humanoid Research, Rainbow Robotics, Deajeon, South Korea Sung-Hee Lee Graduate School of Culture Technology, KAIST, Yuseong-gu, Daejeon, Republic of Korea Hagen Lehmann School of Mathematical and Computer Sciences, Heriot-Watt University, Edinburgh, UK Daniel Leidner Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany Ute Leonards School of Experimental Psychology, University of Bristol, Bristol, UK Bristol Robotics Laboratory, Joint Facility of the University of the West of England and the University of Bristol, Bristol, UK Jeongsoo Lim Department of Humanoid Research, Rainbow Robotics, Deajeon, South Korea Division of Mechanical Engineering, School of Mechanical, Aerospace & Systems Engineering, KAIST, Daejeon, South Korea Ming C. Lin Department of Computer Science, University of North Carolina, Chapel Hill, NC, USA Libin Liu University of British Columbia, Vancouver, BC, Canada Katrin Solveig Lohan School of Mathematical and Computer Sciences, Heriot- Watt University, Edinburgh, UK Sebastian Lohmeier Institute of Applied Mechanics, Technische Universität München, Munich, Germany Qianli Ma Robot and Protein Kinematics Laboratory, Laboratory for Computa- tional Sensing and Robotics, Department of Mechanical Engineering, The Johns Hopkins University, Baltimore, MD, USA xl Contributors

M. N. Mahyuddin School of Electrical and Electronics Engineering, Universiti Sains Malaysia, Nibong Tebal, Pulau Pinang, Malaysia Jörn Malzahn Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy Christian Mandery High Performance Humanoid Technologies, Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Ger- many Dinesh Manocha Department of Computer Science, University of North Carolina, Chapel Hill, NC, USA Christopher McQuin Motiv Space Systems, San Francisco, CA, USA Gustavo Medrano Cerda Istituto Italiano di Tecnologia (IIT-Genova), Advanced Robotics, Genova, Italy Thomas Mergner Neurology, University Clinics, Freiburg, Breisgau, Germany Giorgio Metta iCub Facility, Istituto Italiano di Tecnologia, Genova, Italy Blanca Miller Department of Computer Science & Engineering, University of Nevada, Reno, Reno, NV, USA Katja Mombaur Optimization, Robotics and Biomechanics (ORB), Institute of Computer Engineering (ZITI), University of Heidelberg, Heidelberg, Germany Federico L. Moro Institute of Industrial Technologies and Automation (ITIA), National Research Council (CNR) of Italy, Milano, Italy Andreas Mueller Institute of Robotics, Johannes Kepler University, Linz, Austria Akihiko Murai Digital Human Research Group, National Institute of Advanced Industrial Science and Technology (AIST), Tokyo, Japan Kenichiro Nagasaka Motion Control Technology Development Department, Innovative Technology Development Division, System R&D Group, R&D Platform, Sony Corporation, Tokyo, Japan Yuichiro Nakajima Planning & Administration Department, Partner Robot Divi- sion, Toyota Motor Corporation, Toyota, Japan Lorenzo Natale iCub Facility, Istituto Italiano di Tecnologia, Genova, Italy Gabe Nelson Boston Dynamics, Waltham, MA, USA Dragomir Nenchev Department of Mechanical Systems Engineering, Tokyo City University, Tokyo, Japan Tatsuya Nomura Department of Media Informatics, Faculty of Science and Technology, Ryukoku University, Otsu, Shiga, Japan Francesco Nori iCub Facility, Robotics, Brain and Cognitive Sciences Depart- ment, Istituto Italiano di Tecnologia, Genoa, Italy Contributors xli

Tetsuya Ogata Department of Intermedia Art and Science, Faculty of Science and Engineering, Waseda University, Tokyo, Japan Jun-Ho Oh Division of Mechanical Engineering, School of Mechanical, Aerospace & Systems Engineering, KAIST, Daejeon, South Korea Yonghwan Oh Center for Robotics Research, Korea Institute of Science and Technology (KIST), Seoul, South Korea Christian Ott Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany Robotics and Mechatronics Center (RMC), Wessling, Germany Vincent Padois CNRS UMR 7222, Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Universitès, UPMC Univ Paris 06, Paris Cedex 05, France Amit Kumar Pandey Innovation Department, SoftBank Robotics Europe, Paris, France Jong Hyeon Park Mechatronics Lab, School of Mechanical Engineering, Hanyang University, Seoul, South Korea Nicolas Perrin Sorbonne Universités, UPMC Univ Paris 06, CNRS, Institut des Systèmes Intelligents et de Robotique (ISIR), Paris, France Robert J. Peterka Department of Oregon Health & Science University, Corvallis, OR, USA National Center for Rehabilitative Auditory Research, VA Portland Health Care System, Portland, OR, USA Robert Playter Boston Dynamics, Waltham, Massachusetts, USA Dilip Kumar Pratihar Department of Mechanical Engineering, Indian Institute of Technology, Kharagpur, West Bengal, India Jerry E. Pratt Institute for Human and Machine Cognition, Pensacola, FL, USA Nicolaus Radford Houston Mechatronics, Inc., Kemah, TX, USA Rega Rajendra Department of Mechanical Engineering, Indian Institute of Tech- nology, Kharagpur, West Bengal, India V. Pandu Ranga Department of Mechanical Engineering, Indian Institute of Technology, Kharagpur, West Bengal, India Francesco Rea Istituto Italiano di Tecnologia, Genoa, Italy Markus Rickert fortiss, An-Institut Technische Universität München, München, Germany Laurel D. Riek Department of Computer Science and Engineering, University of California San Diego, La Jolla, CA, USA xlii Contributors

Máximo A. Roa Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany Soroush Sadeghnejad Mechanical Engineering Department, Amirkabir Univer- sity of Technology (Tehran Polytechnic), Tehran, Iran Giulio Sandini Department of Robotics, Brain and Cognitive Sciences, Istituto Italiano di Tecnologia, Genoa, Italy Uluc Saranli Department of Computer Engineering, Middle East Technical Uni- versity, Balgat, Ankara, Turkey Aaron Saunders Boston Dynamics, Waltham, MA, USA Brian Scassellati Computer Science & Mechanical Engineering & Materials Science, Yale University, New Haven, CT, USA Stefan Schaal Max-Planck-Institute for Intelligent Systems, Tübingen, Germany Computer Science, University of Southern California, Los Angeles, CA, USA Florian Schmidt Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany Alessandra Sciutti Istituto Italiano di Tecnologia, Genoa, Italy Natalie Sebanz Department of Cognitive Science, Central European University, Budapest, Hungary Luis Sentis Human Centered Robotics Laboratory, The University of Texas at Austin, Austin, TX, USA André Seyfarth Locomotion Laboratory, Institute of Sport Science, Technical University of Darmstadt, Darmstadt, Hesse, Germany Taher Abbas Shangari Bio-Inspired System Design Lab, Amirkabir University of Technology (Tehran Polytechnic), Tehran, Iran Satoshi Shigemi Honda R&D Co., Ltd., Wako-shi, Saitama, Japan Bruno Siciliano Department of Electrical Engineering and Information Technol- ogy, University of Naples Federico II, Naples, Italy Steven “Mouse” Silverstein Walt Disney Parks and Resorts, U.S. Inc., Lake Buena Vista, FL, USA Fraser Smith Sarcos Corp., Salt Lake City, UT, USA Manish Sreenivasa Optimization, Robotics & Biomechanics, Institute of Com- puter Engineering, Heidelberg University, Heidelberg, Germany Olivier Stasse Gepetto TEAM, LAAS-CNRS, Toulouse, France Jochen J. Steil Institute for Robotics and Process Control, Technische Universität Braunschweig, Braunschweig, Germany Contributors xliii

Tomomichi Sugihara Department of Adaptive Machine Systems, Graduate School of Engineering, Osaka University, Suita/Osaka, Japan Tim Swift Roam Robotics, San Francisco, CA, USA Atsuo Takanishi Department of Modern Mechanical Engineering, Waseda Uni- versity, Shinjuku-ku, Tokyo, Japan Takayuki Tanaka Graduate School of Information Science and Technology, Hokkaido University, Sapporo, Japan Tadahiro Taniguchi Department of Information Science and Engineering, Rit- sumeikan University, Kusatsu, Shiga, Japan Adriana Tapus Robotics and Computer Vision Lab, U2IS, ENSTA-ParisTech, Palaiseau Cedex, France William T. Townsend Advanced Robot Arms and Hands, Barrett Technology, Newton, MA, USA Silvio Traversaro iCub Facility, Robotics, Brain and Cognitive Sciences Depart- ment, Istituto Italiano di Tecnologia, Genoa, Italy Jeffrey C. Trinkle National Robotics Initiative, The National Science Foundation, Arlington, VA, USA Nikos G. Tsagarakis Istituto Italiano di Tecnologia (IIT-Genova), Humanoids & Human Centred Mechatronics, Genoa, Italy Barkan Ugurlu Department of Mechanical Engineering, Ozyegin University, Istanbul, Turkey Nikolaus Vahrenkamp High Performance Humanoid Technologies, Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Ger- many Michiel van de Panne University of British Columbia, Vancouver, BC, Canada Gentiane Venture Department of Mechanical Systems Engineering, Tokyo Uni- versity of Agriculture and Technology, Tokyo, Japan Mirko Wächter High Performance Humanoid Technologies, Institute for Anthro- pomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany Alexander Werner Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany Pierre-Brice Wieber Grenoble – Rhône-Alpes Research Centre, INRIA, Montbonnot-Saint-Martin, Rhone-Alpes, France Jeremy D. Wong Human Performance Laboratory, Department of Kinesiology, University of Calgary, Calgary, AB, Canada Ko Yamamoto Department of Mechanical Engineering, University of Tokyo, Tokyo, Japan xliv Contributors

Katsu Yamane Disney Research, Pittsburgh, PA, USA John Yamokoski Director of Research and Development, Houston Mechatronics, Inc., Houston, TX, USA KangKang Yin Department of Computer Science, National University of Singa- pore, Singapore, Singapore Eiichi Yoshida CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/RL, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Ibaraki, Japan Riadh Zaier Department of Mechanical and Industrial Engineering, College of Engineering, Sultan Qaboos University, Al Khod, Muscat, Sultanate of Oman Si Zhang Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China