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Article
Publication date: 1 October 2002

Yoshihiro Kusuda

Since the advent of Honda’s ASIMO and Sony’s AIBO, robot fever has broken out in the general public of Japan. However no significant business has yet materialized, except…

Abstract

Since the advent of Honda’s ASIMO and Sony’s AIBO, robot fever has broken out in the general public of Japan. However no significant business has yet materialized, except in the pet robot business in the toy industry. On the other hand serious basic research for humanoid robots is going on which may have an impact on the future of robotics. This report describes the current status of Japanese humanoid fever and its reality.

Details

Industrial Robot: An International Journal, vol. 29 no. 5
Type: Research Article
ISSN: 0143-991X

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Article
Publication date: 15 June 2020

Robert Bogue

This paper aims to provide technical details of humanoid robot developments from the 1970s to the present day and to consider their potential applications and prospects.

Abstract

Purpose

This paper aims to provide technical details of humanoid robot developments from the 1970s to the present day and to consider their potential applications and prospects.

Design/methodology/approach

Following an introduction, this first identifies the motivations for developing humanoid robots. It then provides a technical review of developments conducted between the 1970s and the late 2010s. The most recent developments and their applications are then discussed and the paper concludes with a brief consideration of future prospects.

Findings

Since the first efforts to develop humanoid robots in Japan, the 1970s, the technology has attracted global interest and progress has been dramatic. Enabled by developments in computing, imaging, sensing, power sources, actuators and other technologies, today’s humanoid robots are agile, stable and capable of all manner of human-like capabilities such as running, climbing stairs and carrying heavy loads. Real-world uses in fields such as construction, assembly, disaster response and home assistance are expected to emerge in the near future as a result of application-specific developments.

Originality/value

This illustrates the technological evolution of humanoid robots from their inception in the 1970s to the present day.

Details

Industrial Robot: the international journal of robotics research and application, vol. 47 no. 4
Type: Research Article
ISSN: 0143-991X

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Article
Publication date: 16 March 2021

Dunhai Wang and Amit Sharma

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…

Abstract

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 beings.

Design/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 together.

Findings

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 out.

Originality/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.

Details

International Journal of Intelligent Computing and Cybernetics, vol. 14 no. 2
Type: Research Article
ISSN: 1756-378X

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Book part
Publication date: 7 October 2020

Laurens De Gauquier, Malaika Brengman and Kim Willems

  • Service robots (SRs) in retail is an emerging topic for both scholars and practitioners.
  • Most of the studies are performed in the field using observational methods.
  • To date…

Abstract

Learning Outcomes

  • Service robots (SRs) in retail is an emerging topic for both scholars and practitioners.

  • Most of the studies are performed in the field using observational methods.

  • To date, there is a lack of using uniform frameworks in order to fully understand customer–robot interactions.

  • The dark side of robots in retail is still an underexplored area.

Service robots (SRs) in retail is an emerging topic for both scholars and practitioners.

Most of the studies are performed in the field using observational methods.

To date, there is a lack of using uniform frameworks in order to fully understand customer–robot interactions.

The dark side of robots in retail is still an underexplored area.

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Article
Publication date: 8 June 2020

Keqiang Bai, Yunzhi Luo, Guanwu Jiang, Guoli Jiang and Li Guo

This paper aims to propose a pulsing type joint servo driver-based obstacle surmounting method for a humanoid robot according to the whole-body dynamics model, which fully…

Abstract

Purpose

This paper aims to propose a pulsing type joint servo driver-based obstacle surmounting method for a humanoid robot according to the whole-body dynamics model, which fully takes into account the relationship between the whole-body stability margin and instantaneous torque.

Design/methodology/approach

First, the authors designed a new practical instantaneous large torque strategy for a pulsing type joint servo driver by modeling the whole-body dynamics of the humanoid robot. The work also considered joint angle planning based on the dynamic model for crossing obstacles. Second, in the simulation and experimentation, the instantaneous torque of the driver is used to realize successful crossing of obstacles by the humanoid robot. This verifies the correctness of the whole-body dynamics model and the feasibility of the method for crossing obstacles.

Findings

The experimental data and results are described and analyzed, showing that the proposed method is feasible and effective through simulation and implementation.

Originality/value

The main contribution is the humanoid robot’s actuation control technology and humanoid action realization, which could be used for squatting and moving heavy objects to help a humanoid robot adapt effectively.

Details

Industrial Robot: the international journal of robotics research and application, vol. 47 no. 4
Type: Research Article
ISSN: 0143-991X

Keywords

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Article
Publication date: 18 January 2019

Tran Thien Huan and Ho Pham Huy Anh

The purpose of this paper is to design a novel optimized biped robot gait generator which plays an important role in helping the robot to move forward stably. Based on a…

Abstract

Purpose

The purpose of this paper is to design a novel optimized biped robot gait generator which plays an important role in helping the robot to move forward stably. Based on a mathematical point of view, the gait design problem is investigated as a constrained optimum problem. Then the task to be solved is closely related to the evolutionary calculation technique.

Design/methodology/approach

Based on this fact, this paper proposes a new way to optimize the biped gait design for humanoid robots that allows stable stepping with preset foot-lifting magnitude. The newly proposed central force optimization (CFO) algorithm is used to optimize the biped gait parameters to help a nonlinear uncertain humanoid robot walk robustly and steadily. The efficiency of the proposed method is compared with the genetic algorithm, particle swarm optimization and improved differential evolution algorithm (modified differential evolution).

Findings

The simulated and experimental results carried out on the small-sized nonlinear uncertain humanoid robot clearly demonstrate that the novel algorithm offers an efficient and stable gait for humanoid robots with respect to accurate preset foot-lifting magnitude.

Originality/value

This paper proposes a new algorithm based on four key gait parameters that enable dynamic equilibrium in stable walking for nonlinear uncertain humanoid robots of which gait parameters are initiatively optimized with CFO algorithm.

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Article
Publication date: 4 March 2021

Abhishek Kumar Kashyap and Dayal R. Parhi

Humanoid robots have complicated dynamics, and they lack dynamic stability. Despite having similarities in kinematic structure, developing a humanoid robot with robust…

Abstract

Purpose

Humanoid robots have complicated dynamics, and they lack dynamic stability. Despite having similarities in kinematic structure, developing a humanoid robot with robust walking is quite difficult. In this paper, an attempt to produce a robust and expected walking gait is made by using an ALO (ant lion optimization) tuned linear inverted pendulum model plus flywheel (LIPM plus flywheel).

Design/methodology/approach

The LIPM plus flywheel provides the stabilized dynamic walking, which is further optimized by ALO during interaction with obstacles. It gives an ultimate turning angle, which makes the robot come closer to the obstacle and provide a turning angle that optimizes the travel length. This enhancement releases the constraint on the height of the COM (center of mass) and provides a larger stride. The framework of a sequential locomotion planer has been discussed to get the expected gait. The proposed method has been successfully tested on a simulated model and validated on the real NAO humanoid robot.

Findings

The convergence curve defends the selection of the proposed controller, and the deviation under 5% between simulation and experimental results in regards to travel length and travel time proves its robustness and efficacy. The trajectory of various joints obtained using the proposed controller is compared with the joint trajectory obtained using the default controller. The comparison shows the stable walking behavior generated by the proposed controller.

Originality/value

Humanoid robots are preferred over mobile robots because they can easily imitate the behaviors of humans and can result in higher output with higher efficiency for repetitive tasks. A controller has been developed using tuning the parameters of LIPM plus flywheel by the ALO approach and implementing it in a humanoid robot. Simulations and experiments have been performed, and joint angles for various joints are calculated and compared with the default controller. The tuned controller can be implemented in various other humanoid robots

Details

International Journal of Intelligent Unmanned Systems, vol. ahead-of-print no. ahead-of-print
Type: Research Article
ISSN: 2049-6427

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Article
Publication date: 16 October 2017

Joanne Pransky

The following paper is a “Q&A interview” conducted by Joanne Pransky of Industrial Robot Journal as a method to impart the combined technological, business and personal…

Abstract

Purpose

The following paper is a “Q&A interview” conducted by Joanne Pransky of Industrial Robot Journal as a method to impart the combined technological, business and personal experience of a prominent, robotic industry PhD-turned-entrepreneur regarding the commercialization and challenges of bringing a technological invention to market. This paper aims to discuss these issues.

Design/methodology/approach

The interviewee is Dr Jun Ho Oh, Professor of Mechanical Engineering at the Korea Advanced Institute of Science and Technology (KAIST) and Director of KAIST’s Hubolab. Determined to build a humanoid robot in the early 2000s to compete with Japan’s humanoids, Dr Oh and KAIST created the KHR1. This research led to seven more advanced versions of a biped humanoid robot and the founding of the Robot for Artificial Intelligence and Boundless Walking (Rainbow) Co., a professional technological mechatronics company. In this interview, Dr Oh shares the history and success of Korea’s humanoid robot research.

Findings

Dr Oh received his BSc in 1977 and MSc in Mechanical Engineering in 1979 from Yonsei University. Oh worked as a Researcher for the Korea Atomic Energy Research Institute before receiving his PhD from the University of California (UC) Berkeley in mechanical engineering in 1985. After his PhD, Oh remained at UC Berkeley to do Postdoctoral research. Since 1985, Oh has been a Professor of Mechanical Engineering at KAIST. He was a Visiting Professor from 1996 to 1997 at the University of Texas Austin. Oh served as the Vice President of KAIST from 2013-2014. In addition to teaching, Oh applied his expertise in robotics, mechatronics, automatic and real-time control to the commercial development of a series of humanoid robots.

Originality/value

Highly self-motivated and always determined, Dr Oh’s initial dream of building the first Korean humanoid bipedal robot has led him to become one of the world leaders of humanoid robots. He has contributed widely to the field over the nearly past two decades with the development of five versions of the HUBO robot. Oh led Team KAIST to win the 2015 DARPA Robotics Challenge (DRC) and a grand prize of US$2m with its humanoid robot DRC-HUBO+, beating 23 teams from six countries. Oh serves as a robotics policy consultant for the Korean Ministry of Commerce Industry and Energy. He was awarded the 2016 Changjo Medal for Science and Technology, the 2016 Ho-Am Prize for engineering, and the 2010 KAIST Distinguished Professor award. He is a member of the Korea Academy of Science and Technology.

Details

Industrial Robot: An International Journal, vol. 44 no. 6
Type: Research Article
ISSN: 0143-991X

Keywords

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Article
Publication date: 6 January 2012

Seyed H. Mohades Kasaei, Mohammadreza Kasaei and S. Alireza Kasaei

The purpose of this paper is to design and implement a team of kid size humanoid soccer robots conforming to RoboCup Humanoid league.

Abstract

Purpose

The purpose of this paper is to design and implement a team of kid size humanoid soccer robots conforming to RoboCup Humanoid league.

Design/methodology/approach

The project is described in two main parts: hardware and software. The hardware section consists of the mechanical structure and the driver circuit board enabling each robot to walk, fast walk, autonomously get up, kick and dribble when it catches the ball. The software is developed as a robot application which consists of motion controller, autonomous motion robot, self localization based on vision system, AI, trajectory planning and network.

Findings

This year, the authors' developments for the humanoid robot include: the design and construction of our new humanoid robots structure and implementation of a new recurrent hybrid neural network for walking control. The control system consists of two neural network controllers, two standard PD controllers and a robot walking planar. The proposed neural network controller has three layers, which are input, hidden, and output layers.

Originality/value

This paper presents results of research work in the field of autonomous robot‐middle size soccer robot, supported by IAU‐ Isfahan Branch (Khorasgan).

Details

Industrial Robot: An International Journal, vol. 39 no. 1
Type: Research Article
ISSN: 0143-991X

Keywords

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Article
Publication date: 17 October 2008

Hartwig Holzapfel

This paper aims to give an overview of a dialogue manager and recent experiments with multimodal human‐robot dialogues.

Abstract

Purpose

This paper aims to give an overview of a dialogue manager and recent experiments with multimodal human‐robot dialogues.

Design/methodology/approach

The paper identifies requirements and solutions in the design of a human‐robot interface. The paper presents essential techniques for a humanoid robot in a household environment and describes their application to representative interaction scenarios that are based on standard situations for a humanoid robot in a household environment. The presented dialogue manager has been developed within the German collaborative research center SFB‐588 on “Humanoid Robots – Learning and Cooperating Multimodal Robots”. The dialogue system is embedded in a multimodal perceptual system of the humanoid robot developed within this project. The implementation of the dialogue manager is geared to requirements found in the explored scenarios. The algorithms include multimodal fusion, reinforcement learning, knowledge acquisition and tight coupling of dialogue manager and speech recognition.

Findings

Within the presented scenarios several algorithms have been implemented and show improvements of the interactions. Results are reported within scenarios that model typical household situations.

Research limitations/implications

Additional scenarios need to be explored especially in real‐world (out of the lab) experiments.

Practical implications

The paper includes implications for the development of humanoid robots and human‐robot interaction.

Originality/value

This paper explores human‐robot interaction scenarios and describes solutions for dialogue systems.

Details

Industrial Robot: An International Journal, vol. 35 no. 6
Type: Research Article
ISSN: 0143-991X

Keywords

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