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Delayed Teleoperation with Force Feedback of a humanoid robot

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International Journal of Automation and computing 2021年第4期18卷 605-618页

作者： Viviana Moya Emanuel Slawinski Vicente Mut Institute of Automation National University of San JuanSan Martin 5400Argentina

Teleoperation systems allow the extension of human capabilities to remote-control devices by providing the operator with conditions similar to those at the remote site through a communication channel that sends information from one site to the other. This article aims to present an analysis of the benefits of force feedback applied to the bilateral teleoperation of a humanoid robot with timevarying delay. As a control scheme, we link adaptive inverse dynamics compensation, balance control, and P+d like controllers. Finally,a test is performed where an operator simultaneously handles the locomotion(forward velocity and turn angle) and arm of a simulated 3D humanoid robot to do a pick-and-place task using two master devices with force feedback, where indexes such as time to complete the task, coordination errors, path tracking error, and percentage of successful tests are reported for different time-delays. We conclude with the results achieved.

关键词： humanoid robot bilateral teleoperation time delay force feedback walking manipulation

Motion Planning of humanoid robot for Obstacle Negotiation

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Journal of Beijing Institute of Technology 2008年第4期17卷 439-444页

作者： JAFRI Ali Raza 黄强杨洁张伟民 School of Aerospace Science and Engineering Beijing Institute of Technology

The motion planning for obstacle negotiation by humanoid robot BHR-2 through stepping over or stepping on/off the wide and flat obstacle at known locations is presented. In the trajectory generation method, first the constraints of the foot motion parameters which include obstacle dimensions and the distance of obstacle from the humanoid robot is formulated. By varying the values of the constraint parameters, different types of foot motion for different obstacles can be produced. In this method, first the foot trajectory is generated, and then the waist trajectory is computed by using cubic spline interpolation without first calculating the zero moment point （ZMP） trajectory . The dynamic stability during the execution of stepping over and stepping on/off trajectories are ensured by incorporating the ZMP criterion. The effectiveness of the proposed method is confirmed by simulations and experiments on humanoid robot BHR-2.

关键词： motion planning obstacle negotiation humanoid robot step over step on/off third order splineinterpolation

Plane extraction for navigation of humanoid robot

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Journal of Central South University 2011年第3期18卷 627-632页

作者：张彤肖南峰 School of Computer Science and Engineering South China University of Technology Computer Department Guangdong Police Officers College

In order to make the humanoid robot walk freely in complicated circumstance, the reliable capabilities for obtaining plane information from its surroundings are demanded. A system for extracting planes from data taken by stereo vision was presented, After the depth image was obtained, the pixels of each line were scanned and split into straight line segments. The neighbouring relation of line segments was kept in link structure. The groups of three line segments were selected as seed regions. A queue was maintained for storing seed regions, and then the plane region was expanded around the seed region. The process of region growing continued until the queue of seed regions was empty. After trimming, the edges of the planes became smooth. In the end, extracted planes were obtained. In the experiment, two models were used： pipe and stairs. Two planes in pipe mode/and six planes in stairs model were extracted exactly. The speed and precision of algorithm can satisfy the demands of humanoid robot＇s navigation.

关键词： humanoid robot navigation line segments splitting region growing plane extraction depth image

Research on target recognition and mobile job control of humanoid robot based on KM34Z256 for industrial applications

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International Journal of Intelligent Computing and Cybernetics 2021年第2期14卷 302-318页

作者： Dunhai Wang Amit Sharma Xi’an International University XianChinaand Jaypee University of Information Technology SolanIndia

Purpose-humanoid robot has similar shape and action characteristics as humans,and it can complete some basic tasks instead of humans without changing the human environment,which makes humanoid robot become the best structure and help form for robot to provide services for human ***/methodology/approach-The mobile operation control of humanoid robot is generated by the walking movement of humanoid robot’s feet,and the robot’s hand and arm complete grasping and other operations ***-On the basis of humanoid robot,the integrated system of software and hardware based on the KM34Z256 humanoid robot is described first,and a series of kinematics discussion on its mobile operation is carried ***/value-The research based on this project shows that the target recognition and positioning method is not only accurate and of high energy but also can realize the mobile operation of humanoid robot.

关键词： humanoid robot Target recognition Mobile operation Industrial automation

Emotional Gait Generation for a humanoid robot

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维普期刊数据库

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International Journal of Automation and computing 2010年第1期7卷 64-69页

作者： Lun Xie Zhi-Liang Wang Wei Wang Guo-Chen Yu School of Information Engineering, University of Science and Technology Beijing, Beijing 100083, PRC School of Information Engineering University of Science and Technology Beijing Beijing PRC

In this paper, an emotional mathematical model and affective state probability description space of a humanoid robot are set up on the basis of psycho-dynamics＇ psychological energy and affective energy conservation law. The emotional state transferring process and hidden Markov chain algorithm of stimulating transition process are then studied. The simulation results show that the mathematical model is applicable to the authentic affective state change rule of human beings. Finally, the gait generation experiment results of control signal and electric current tracking wave-form are presented to demonstrate the validity of the proposed mathematical model.

关键词： Emotional mathematical model humanoid robot hidden Markov chain stimulating transition process gait generation.

Arm/trunk motion generation for humanoid robot

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Science China(Information Sciences) 2010年第8期53卷 1603-1612页

作者： XING DengPeng & SU JianBo Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China 1. Department of Automation Shanghai Jiao Tong University Shanghai 200240 China

This paper develops two motion generation methods for the upper body of humanoid robots based on compensating for the yaw moment of whole body during motion. These upper body motions can effectively solve the stability problem of feet spin for robot walk. We analyze the ground reactive torque, separate the yaw moment as the compensating object and discuss the effect of arms swinging on whole body locomotion. By taking the ZMP as the reference point, trunk spin motion and arms swinging motion are generated to improve the biped motion stability, based on compensating for the yaw moment. The methods are further compared from the energy consumption point of view. Simulated experimental results validate the performance and the feasibility of the proposed methods.

关键词： humanoid robot motion generation yaw moment arms swinging compensation motion

Kinematic analysis of a humanoid robot CHP-1 and selection of motors in consideration of cooperative motion

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Journal of Central South University 2012年第11期19卷 3094-3099页

作者： KIM Do-un HWANG Sang-wook KANG Hyo-jung HONG Dae Sun School of Mechatronics Changwon National UniversityChangwon 641-773Korea

A lower-part humanoid robot CHP-1 with 12 degree-of-freedom of motion has been developed for cooperative motion,such as pushing or lifting an *** capability of the robot is mainly dependent on the performance of the motors,thus the motors need to be properly *** the purpose,the kinematics of the robot was analyzed,and a number of simulations for two kinds of cooperative motions were carried *** torques required at each motor of the robot under external forces were ***,the external forces were also estimated through simulation and literature *** the basis of the torques found,the selection of motors was finally suggested,and the motors are to be installed to the humanoid robot.

关键词： humanoid robot motor selection cooperative motion kinematics

A selective attention-based contextual perception approach for a humanoid robot

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控制理论与应用（英文版） 2007年第3期5卷 244-252页

作者： Yanrong JIANG Nanfeng XIAO School of Computer Science and Engineering South China University of Technology Guangzhou Guangdong 510640 China

A humanoid robot is always flooded by sensed information when sensing the environment, and it usually needs significant time to compute and process the sensed information. In this paper, a selective attention-based contextual perception approach was proposed for humanoid robots to sense the environment with high efficiency. First, the connotation of attention window （AW） is extended to make a more general and abstract definition of AW, and its four kinds of operations and state transformations are also discussed. Second, the attention control policies are described, which integrate intensionguided perceptual objects selection and distractor inhibition, and can deal with emergent issues. Distractor inhibition is used to filter unrelated information. Last, attention policies are viewed as the robot＇s perceptual modes, which can control and adjust the perception efficiency. The experimental results show that the presented approach can promote the perceptual efficiency significantly, and the perceptual cost can be effectively controlled through adopting different attention policies.

关键词： humanoid robot Perceptual approach Selective attention Distractor inhibition Attentional control

BCI Control System for humanoid robot Based on Motor Imaginary

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BCI Control System for Humanoid Robot Based on Motor Imagina...