-
openalex
Kai Chi Yam, Yochanan Bigman, Kurt Gray
2021-07-08
置信度 0.72
Uncanny valleyDehumanizationUncannyHumanoid robotRobot
-
OBJECTIVES: Socially assistive humanoid robots are considered a promising technology to tackle the challenges in health and social care posed by the growth of the ageing population. The purpose of our study was to explore the current evidence on barriers and e…
openalex
Irena Papadopoulos, Christina Koulouglioti, Runa Lazzarino, Sheila Ali
2020-01-01
置信度 0.72
UsabilityMedicineHumanoid robotHealth careApplied psychology
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Since humanoid robots have a number of degrees-of-freedom in general, a pattern-based approach of the motion control reduces its difficulty. It is necessary, however, to absorb and compensate disturbances in order to maintain the stability of robots in the rea…
openalex
Tomomichi Sugihara, Yoshihiko Nakamura
2003-06-25
置信度 0.72
CogHumanoid robotJacobian matrix and determinantComputer scienceRobot
-
A humanoid robot "H6" is developed as a platform for the research on perception-action coupling in intelligent behaviour of humanoid type robots. The H6 has the features as follows: 1) a body which has enough DOFs and each joint has enough torque for full body…
openalex
Keiji Nishiwaki, Tomomichi Sugihara, S. Kagami, Fumio Kanehiro 等
2002-11-08
置信度 0.72
Humanoid robotRobotComputer scienceEthernetHuman–computer interaction
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openalex
Steven J. Stroessner, Jonathan Benitez
2018-11-08
置信度 0.72
Humanoid robotRobotPerceptionSocial robotPsychology
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This paper presents our new 25-DoF humanoid walking robot LOLA. The goal of our research is to realize a fast, human-like walking motion (target speed: 5 km/h). Furthermore, we want to increase the robot's autonomous, vision-guided walking capabilities. The ro…
openalex
S. Lohmeier, T. Buschmann, Heinz Ulbrich, H. Ulbrich
2009-05-01
置信度 0.72
Humanoid robotModular designTorqueRobotComputer science
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This work presents methods for path planning and obstacle avoidance for the humanoid robot QRIO, allowing the robot to autonomously walk around in a home environment. For an autonomous robot, obstacle detection and localization as well as representing them in …
openalex
Kohtaro Sabe, M. Fukuchi, J.-S. Gutmann, Takeshi Ohashi 等
2004-01-01
置信度 0.72
Computer visionObstacle avoidanceMotion planningArtificial intelligenceComputer science
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Over the past few years, a number of successful humanoid platforms have been developed, including the Nao and the DARwIn-OP, both of which are used by many research groups for the investigation of bipedal walking, full-body motions, and human-robot interaction…
arxiv
Philipp Allgeuer, Max Schwarz, Julio Pastrana, Sebastian Schueller 等
2018-09-28T14:16:46Z
置信度 0.78
cs.RO
-
The versatility of humanoid robots in locomotion, full-body motion, interaction with unmodified human environments, and intuitive human-robot interaction led to increased research interest. Multiple smaller platforms are available for research, but these requi…
arxiv
Grzegorz Ficht, Philipp Allgeuer, Hafez Farazi, Sven Behnke
2018-09-28T16:59:59Z
置信度 0.78
cs.RO
-
When a human and a humanoid robot collaborate physically, ergonomics is a key factor to consider. Assuming a given humanoid robot, several control architectures exist nowadays to address ergonomic physical human-robot collaboration. This paper takes one step f…
arxiv
Carlotta Sartore, Lorenzo Rapetti, Daniele Pucci
2022-11-24T09:44:48Z
置信度 0.78
cs.RO
-
Reducing the complexity of higher order problems can enable solving them in analytical ways. In this paper, we propose an analytic whole body motion generator for humanoid robots. Our approach targets inexpensive platforms that possess position controlled join…
arxiv
Grzegorz Ficht, Sven Behnke
2018-10-19T08:05:27Z
置信度 0.78
cs.RO
-
Social Robot Lumen is an Artificial Intelligence development project that aims to create an Artificial Intelligence (AI) which allows a humanoid robot to communicate with human being naturally. In this study, Lumen will be developed to be a tour guide in Elect…
arxiv
Ahmad Syarif, Ary Setijadi Prihatmanto
2016-07-16T16:46:33Z
置信度 0.78
cs.ROcs.HC
-
Full-sized humanoid robot capabilities have grown exponentially in recent years, aiming towards general-purpose deployment in human environments. A popular control method used by manufacturers utilizes Virtual Reality for upper-body teleoperation and Reinforce…
arxiv
Nicolas Kosanovic, Jordan Dowdy, Jean Chagas Vaz
2026-07-22T17:35:43Z
置信度 0.78
cs.ROcs.HCcs.LG
-
Automatic fall recovery is a crucial prerequisite before humanoid robots can be reliably deployed. Hand-designing controllers for getting up is difficult because of the varied configurations a humanoid can end up in after a fall and the challenging terrains hu…
arxiv
Xialin He, Runpei Dong, Zixuan Chen, Saurabh Gupta
2025-02-17T18:59:06Z
置信度 0.78
cs.ROcs.LG
-
Demonstrating acrobatic behavior of a humanoid robot such as flips and spinning jumps requires systematic approaches across hardware design, motion planning, and control. In this paper, we present a new humanoid robot design, an actuator-aware kino-dynamic mot…
arxiv
Matthew Chignoli, Donghyun Kim, Elijah Stanger-Jones, Sangbae Kim
2021-04-19T02:56:19Z
置信度 0.78
cs.RO
-
Current approaches for humanoid whole-body manipulation, primarily relying on teleoperation or visual sim-to-real reinforcement learning, are hindered by hardware logistics and complex reward engineering. Consequently, demonstrated autonomous skills remain lim…
arxiv
Ruiqian Nai, Boyuan Zheng, Junming Zhao, Haodong Zhu 等
2026-02-06T12:10:47Z
置信度 0.78
cs.ROcs.AIcs.LG
-
Humanoid robots will be able to assist humans in their daily life, in particular due to their versatile action capabilities. However, while these robots need a certain degree of autonomy to learn and explore, they also should respect various constraints, for a…
arxiv
Niklas Hemken, Florian Jacob, Fabian Peller-Konrad, Rainer Kartmann 等
2023-12-14T11:09:50Z
置信度 0.78
cs.ROcs.CRcs.LG
-
Simulation-based reinforcement learning (RL) has significantly advanced humanoid locomotion tasks, yet direct real-world RL from scratch or adapting from pretrained policies remains rare, limiting the full potential of humanoid robots. Real-world learning, des…
arxiv
Kaizhe Hu, Haochen Shi, Yao He, Weizhuo Wang 等
2025-08-17T06:17:06Z
置信度 0.78
cs.RO
-
This paper proposes a technique for automatic gain tuning of a momentum based balancing controller for humanoid robots. The controller ensures the stabilization of the centroidal dynamics and the associated zero dynamics. Then, the closed-loop, constrained joi…
arxiv
Daniele Pucci, Gabriele Nava, Francesco Nori
2016-10-10T11:10:40Z
置信度 0.78
eess.SYcs.RO
-
Gaze stabilization is an important requisite for humanoid robots. Previous work on this topic has focused on the integration of inertial and visual information. Little attention has been given to a third component, which is the knowledge that the robot has abo…
arxiv
Alessandro Roncone, Ugo Pattacini, Giorgio Metta, Lorenzo Natale
2014-11-13T12:39:42Z
置信度 0.78
cs.ROcs.CV
-
Humanoid robot teleoperation allows humans to integrate their cognitive capabilities with the apparatus to perform tasks that need high strength, manoeuvrability and dexterity. This paper presents a framework for teleoperation of humanoid robots using a novel …
arxiv
Kourosh Darvish, Yeshasvi Tirupachuri, Giulio Romualdi, Lorenzo Rapetti 等
2019-09-22T19:48:50Z
置信度 0.78
cs.RO
-
Humanoid robotics research depends on capable robot platforms, but recently developed advanced platforms are often not available to other research groups, expensive, dangerous to operate, or closed-source. The lack of available platforms forces researchers to …
arxiv
Grzegorz Ficht, Hafez Farazi, André Brandenburger, Diego Rodriguez 等
2018-10-19T08:29:25Z
置信度 0.78
cs.RO
-
Today, as seen in smart speakers, spoken dialogue technology is rapidly advancing to enable human-like interaction. However, current dialogue systems cannot pay attention not only to the content of speech, but also to the way of speaking and eye contact and fa…
arxiv
Koki Inoue, Shuichiro Ogake, Hayato Kawamura, Naoki Igo
2022-10-18T20:32:50Z
置信度 0.78
cs.ROq-fin.CP
-
We present a method for humanoid robot walking on partial footholds such as small stepping stones and rocks with sharp surfaces. Our algorithm does not rely on prior knowledge of the foothold, but information about an expected foothold can be used to improve t…
arxiv
Georg Wiedebach, Sylvain Bertrand, Tingfan Wu, Luca Fiorio 等
2016-07-27T13:49:43Z
置信度 0.78
cs.RO
-
One of the key arguments for building robots that have similar form factors to human beings is that we can leverage the massive human data for training. Yet, doing so has remained challenging in practice due to the complexities in humanoid perception and contr…
arxiv
Zipeng Fu, Qingqing Zhao, Qi Wu, Gordon Wetzstein 等
2024-06-15T00:41:34Z
置信度 0.78
cs.ROcs.AIcs.CVcs.LGeess.SY
-
Humanoid robots capable of autonomous operation in diverse environments have long been a goal for roboticists. However, autonomous manipulation by humanoid robots has largely been restricted to one specific scene, primarily due to the difficulty of acquiring g…
arxiv
Yanjie Ze, Zixuan Chen, Wenhao Wang, Tianyi Chen 等
2024-10-14T17:59:00Z
置信度 0.78
cs.ROcs.CVcs.LG
-
As humanoid robots enter real-world environments, ensuring robust locomotion across diverse environments is crucial. This paper presents a computationally efficient hierarchical control framework for humanoid robot locomotion based on reduced-order models -- e…
arxiv
Adrian B. Ghansah, Sergio A. Esteban, Aaron D. Ames
2025-09-05T00:31:32Z
置信度 0.78
cs.RO
-
We propose a novel Model Predictive Control (MPC) framework for a jet-powered flying humanoid robot. The controller is based on a linearised centroidal momentum model to represent the flight dynamics, augmented with a second-order nonlinear model to explicitly…
arxiv
Davide Gorbani, Giuseppe L'Erario, Hosameldin Awadalla Omer Mohamed, Daniele Pucci
2025-05-22T10:06:25Z
置信度 0.78
cs.ROeess.SY
-
Humanoid soccer poses a representative challenge for embodied intelligence, requiring robots to operate within a tightly coupled perception-action loop. However, existing systems typically rely on decoupled modules, resulting in delayed responses and incoheren…
arxiv
Yushi Wang, Changsheng Luo, Penghui Chen, Jianran Liu 等
2025-11-06T02:40:48Z
置信度 0.78
cs.RO
-
The humanoid robot iCub is a research platform of the Fondazione Istituto Italiano di Tecnologia (IIT), spread among different institutes around the world. In the most recent version of iCub, the robot is equipped with stronger legs and bigger feet, allowing i…
arxiv
Yue Hu, Jorhabib Eljaik, Kevin Stein, Francesco Nori 等
2016-07-28T16:36:42Z
置信度 0.78
cs.RO
-
Humanoid robots can, in principle, use their legs to go almost anywhere. Developing controllers capable of traversing diverse terrains, however, remains a considerable challenge. Classical controllers are hard to generalize broadly while the learning-based met…
arxiv
Ilija Radosavovic, Sarthak Kamat, Trevor Darrell, Jitendra Malik
2024-10-04T17:57:09Z
置信度 0.78
cs.ROcs.LG
-
In immersive humanoid robot teleoperation, there are three main shortcomings that can alter the transparency of the visual feedback: the lag between the motion of the operator's and robot's head due to network communication delays or slow robot joint motion. T…
arxiv
Yang Chen, Leyuan Sun, Mehdi Benallegue, Rafael Cisneros 等
2022-11-03T12:29:14Z
置信度 0.78
cs.RO
-
Recent advances in teleoperation have demonstrated robots performing complex manipulation tasks. However, existing works rarely support whole-body joint-level teleoperation for humanoid robots, limiting the diversity of tasks that can be accomplished. This wor…
arxiv
Noboru Myers, Obin Kwon, Sankalp Yamsani, Joohyung Kim
2025-07-31T21:08:15Z
置信度 0.78
cs.RO
-
We present a novel algorithm for real-time planar semantic mapping tailored for humanoid robots navigating complex terrains such as staircases. Our method is adaptable to any odometry input and leverages GPU-accelerated processes for planar extraction, enablin…
arxiv
Teng Bin, Jianming Yao, Tin Lun Lam, Tianwei Zhang
2024-11-04T09:34:55Z
置信度 0.78
cs.ROcs.CV
-
Purpose - The purpose of this paper is to present a CAD-based human-robot interface that allows non-expert users to teach a robot in a manner similar to that used by human beings to teach each other. Design/methodology/approach - Intuitive robot programming is…
arxiv
Pedro Neto, Nuno Mendes, Ricardo Araújo, J. Norberto Pires 等
2013-09-09T09:46:38Z
置信度 0.78
cs.RO
-
The use of standard platforms in the field of humanoid robotics can accelerate research, and lower the entry barrier for new research groups. While many affordable humanoid standard platforms exist in the lower size ranges of up to 60cm, beyond this the few av…
arxiv
Philipp Allgeuer, Hafez Farazi, Michael Schreiber, Sven Behnke
2018-09-27T18:03:40Z
置信度 0.78
cs.RO
-
The design of the humanoid ankle is critical for safe and efficient ground interaction. Key factors such as mechanical compliance and motor mass distribution have driven the adoption of parallel mechanism architectures. However, selecting the optimal configura…
arxiv
Guglielmo Cervettini, Roberto Mauceri, Alex Coppola, Fabio Bergonti 等
2025-09-19T23:42:01Z
置信度 0.78
cs.RO
-
We introduce novel methods for state estimation, feedforward and feedback control, which specifically target humanoid robots with hardware limitations. Our method combines a five-mass model with approximate dynamics of each mass. It enables acquiring an accura…
arxiv
Grzegorz Ficht, Sven Behnke
2023-12-18T08:40:16Z
置信度 0.78
cs.RO
-
Humanoid robots have shown success in locomotion and manipulation. Despite these basic abilities, humanoids are still required to quickly understand human instructions and react based on human interaction signals to become valuable assistants in human daily li…
arxiv
Jingxiao Chen, Xinyao Li, Jiahang Cao, Zhengbang Zhu 等
2025-02-18T18:56:41Z
置信度 0.78
cs.ROcs.HCcs.LG
-
Over the past few years, the Humanoid League rules have changed towards more realistic and challenging game environments, which encourage teams to advance their robot soccer performances. In this paper, we present the software and hardware designs that led our…
arxiv
Hafez Farazi, Grzegorz Ficht, Philipp Allgeuer, Dmytro Pavlichenko 等
2019-09-05T13:19:50Z
置信度 0.78
cs.RO
-
This paper contributes towards the benchmarking of control architectures for bipedal robot locomotion. It considers architectures that are based on the Divergent Component of Motion (DCM) and composed of three main layers: trajectory optimization, simplified m…
arxiv
Giulio Romualdi, Stefano Dafarra, Yue Hu, Prashanth Ramadoss 等
2019-11-27T17:41:26Z
置信度 0.78
cs.RO
-
This paper contributes towards the development and comparison of Divergent-Component-of-Motion (DCM) based control architectures for humanoid robot locomotion. More precisely, we present and compare several DCM based implementations of a three layer control ar…
arxiv
Giulio Romualdi, Stefano Dafarra, Yue Hu, Daniele Pucci
2018-09-06T18:43:32Z
置信度 0.78
cs.RO
-
In a rapidly evolving digital landscape autonomous tools and robots are becoming commonplace. Recognizing the significance of this development, this paper explores the integration of Large Language Models (LLMs) like Generative pre-trained transformer (GPT) in…
arxiv
Younes Lakhnati, Max Pascher, Jens Gerken
2023-12-12T12:26:48Z
置信度 0.78
cs.HCcs.AIcs.RO
-
In this paper, two behavior control architectures for autonomous agents in the form of cross-platform C++ frameworks are presented, the State Controller Library and the Behavior Control Framework. While the former is state-based and generalizes the notion of s…
arxiv
Philipp Allgeuer, Sven Behnke
2018-09-28T14:45:01Z
置信度 0.78
cs.RO
-
Massively parallel simulation has reduced reinforcement learning (RL) training time for robots from days to minutes. However, achieving fast and reliable sim-to-real RL for humanoid control remains difficult due to the challenges introduced by factors such as …
arxiv
Younggyo Seo, Carmelo Sferrazza, Juyue Chen, Guanya Shi 等
2025-12-01T18:55:17Z
置信度 0.78
cs.ROcs.AIcs.LG
-
Humanoid robots that can autonomously operate in diverse environments have the potential to help address labour shortages in factories, assist elderly at homes, and colonize new planets. While classical controllers for humanoid robots have shown impressive res…
arxiv
Ilija Radosavovic, Tete Xiao, Bike Zhang, Trevor Darrell 等
2023-03-06T18:59:09Z
置信度 0.78
cs.ROcs.LG
-
We present a computationally efficient method for online planning of bipedal walking trajectories with push recovery. In particular, the proposed methodology fits control architectures where the Divergent-Component-of-Motion (DCM) is planned beforehand, and ad…
arxiv
Milad Shafiee, Giulio Romualdi, Stefano Dafarra, Francisco Javier Andrade Chavez 等
2019-09-23T14:53:47Z
置信度 0.78
cs.RO
-
Achieving expressive and generalizable whole-body motion control is essential for deploying humanoid robots in real-world environments. In this work, we propose UniTracker, a three-stage training framework that enables robust and scalable motion tracking acros…
arxiv
Kangning Yin, Weishuai Zeng, Ke Fan, Minyue Dai 等
2025-07-10T00:42:59Z
置信度 0.78
cs.RO
-
This paper describes the hardware, software framework, and experimental testing of SURENA IV humanoid robotics platform. SURENA IV has 43 degrees of freedom (DoFs), including seven DoFs for each arm, six DoFs for each hand, and six DoFs for each leg, with a he…
arxiv
Aghil Yousefi-Koma, Behnam Maleki, Hessam Maleki, Amin Amani 等
2021-08-30T20:57:37Z
置信度 0.78
cs.RO
-
Humanoid robots, with their human-like embodiment, have the potential to integrate seamlessly into human environments. Critical to their coexistence and cooperation with humans is the ability to understand natural language communications and exhibit human-like…
arxiv
Zhenyu Jiang, Yuqi Xie, Jinhan Li, Ye Yuan 等
2024-10-16T17:48:50Z
置信度 0.78
cs.ROcs.AI
-
Reinforcement learning (RL) has enabled advances in humanoid robot locomotion, yet most learning frameworks do not account for mechanical intelligence embedded in parallel actuation mechanisms due to limitations in simulator support for closed kinematic chains…
arxiv
Yusuke Tanaka, Alvin Zhu, Quanyou Wang, Yeting Liu 等
2025-06-30T21:31:10Z
置信度 0.78
cs.RO
-
Humanoid loco-manipulation, which integrates whole-body locomotion with dexterous manipulation, remains a fundamental challenge in robotics. Beyond whole-body coordination and balance, a central difficulty lies in understanding human instructions and translati…
arxiv
Congcong Wen, Geeta Chandra Raju Bethala, Yu Hao, Niraj Pudasaini 等
2025-04-13T11:37:32Z
置信度 0.78
cs.ROcs.AI
-
Natural-language dialog is key for intuitive human-robot interaction. It can be used not only to express humans' intents, but also to communicate instructions for improvement if a robot does not understand a command correctly. Of great importance is to endow r…
arxiv
Leonard Bärmann, Rainer Kartmann, Fabian Peller-Konrad, Jan Niehues 等
2023-09-08T13:29:05Z
置信度 0.78
cs.ROcs.AI
-
Humanoid robots can extend human presence to remote, constrained, or hazardous environments, but existing teleoperation interfaces often require physically demanding motion tracking or cognitively demanding low-level control. This paper presents an immersive t…
arxiv
Niraj Pudasaini, Geeta Chandra Raju Bethala, Pranav Doma, Anthony Tzes 等
2026-07-08T14:00:51Z
置信度 0.78
cs.ROeess.SY
-
Humanoid robots have demonstrated strong capabilities for interacting with static scenes across locomotion and manipulation, yet dynamic real-world interactions remain challenging. As a step toward fast-moving object interactions, we present a reinforcement-le…
arxiv
Chenhao Liu, Leyun Jiang, Yibo Wang, Kairan Yao 等
2025-11-14T12:22:19Z
置信度 0.78
cs.RO
-
We present data from two online human-robot interaction experiments where 227 participants viewed videos of a humanoid robot exhibiting faulty or non-faulty behaviours while either remaining mute or speaking. The participants were asked to evaluate their perce…
arxiv
Amandus Krantz, Christian Balkenius, Birger Johansson
2022-08-29T15:52:25Z
置信度 0.78
cs.RO
-
For the deployment of legged robots in real-world environments, it is essential to develop robust locomotion control methods for challenging terrains that may exhibit unexpected deformability and irregularity. In this paper, we explore the application of sim-t…
arxiv
Rohan P. Singh, Mitsuharu Morisawa, Mehdi Benallegue, Zhaoming Xie 等
2025-04-18T10:49:07Z
置信度 0.78
cs.RO
-
Standing-up control is crucial for humanoid robots, with the potential for integration into current locomotion and loco-manipulation systems, such as fall recovery. Existing approaches are either limited to simulations that overlook hardware constraints or rel…
arxiv
Tao Huang, Junli Ren, Huayi Wang, Zirui Wang 等
2025-02-12T13:10:09Z
置信度 0.78
cs.ROcs.AIcs.LG
-
Stable bipedal walking is a key prerequisite for humanoid robots to reach their potential of being versatile helpers in our everyday environments. Bipedal walking is, however, a complex motion that requires the coordination of many degrees of freedom while it …
arxiv
Marcell Missura, Maren Bennewitz, Sven Behnke
2020-11-05T12:56:10Z
置信度 0.78
cs.RO
-
Classically, the development of humanoid robots has been sequential and iterative. Such bottom-up design procedures rely heavily on intuition and are often biased by the designer's experience. Exploiting the non-linear coupled design space of robots is non-tri…
arxiv
Akhil Sathuluri, Anand Vazhapilli Sureshbabu, Markus Zimmermann
2022-12-29T11:01:31Z
置信度 0.78
cs.RO
-
Robots are increasingly used in shared environments with humans, making effective communication a necessity for successful human-robot interaction. In our work, we study a crucial component: active communication of robot intent. Here, we present an anthropomor…
arxiv
Tim Schreiter, Lucas Morillo-Mendez, Ravi T. Chadalavada, Andrey Rudenko 等
2023-07-03T08:27:05Z
置信度 0.78
cs.RO
-
We propose unwinding the rotations experienced by the user of an immersive telepresence robot to improve comfort and reduce VR sickness of the user. By immersive telepresence we refer to a situation where a 360\textdegree~camera on top of a mobile robot is str…
arxiv
Markku Suomalainen, Basak Sakcak, Adhi Widagdo, Juho Kalliokoski 等
2022-01-07T10:52:25Z
置信度 0.78
cs.ROcs.HCcs.MM
-
Humanoid soccer robots perceive their environment exclusively through cameras. This paper presents a monocular vision system that was originally developed for use in the RoboCup Humanoid League, but is expected to be transferable to other soccer leagues. Recen…
arxiv
Hafez Farazi, Philipp Allgeuer, Sven Behnke
2018-09-28T15:15:49Z
置信度 0.78
cs.RO
-
Purpose - Most industrial robots are still programmed using the typical teaching process, through the use of the robot teach pendant. This is a tedious and time-consuming task that requires some technical expertise, and hence new approaches to robot programmin…
arxiv
Pedro Neto, Norberto Pires, Paulo Moreira
2013-09-09T09:58:22Z
置信度 0.78
cs.RO
-
As part of a feasibility study, this paper shows the NASA Valkyrie humanoid robot performing an end-to-end improvised explosive device (IED) response task. To demonstrate and evaluate robot capabilities, sub-tasks highlight different locomotion, manipulation, …
arxiv
Steven Jens Jorgensen, Michael W. Lanighan, Sylvain S. Bertrand, Andrew Watson 等
2019-10-02T03:29:55Z
置信度 0.78
cs.RO
-
Omnia presents a synthetic data driven pipeline to accelerate the training, validation, and deployment readiness of militarized humanoids. The approach converts first-person spatial observations captured from point-of-view recordings, smart glasses, augmented …
arxiv
Mohammed Ayman Habib, Aldo Petruzzelli
2025-12-16T13:54:34Z
置信度 0.78
cs.RO
-
Push recovery during locomotion will facilitate the deployment of humanoid robots in human-centered environments. In this paper, we present a unified framework for walking control and push recovery for humanoid robots, leveraging the arms for push recovery whi…
arxiv
Lizhi Yang, Blake Werner, Adrian B. Ghansah, Aaron D. Ames
2025-05-16T17:57:18Z
置信度 0.78
cs.RO
-
The ongoing evolution of the RoboCup Humanoid League led in 2017 to the introduction of one vs. one soccer games for the AdultSize robots, which motived our team NimbRo to enter this category. In this paper, we present the mechatronic design of our upgraded ro…
arxiv
Grzegorz Ficht, Dmytro Pavlichenko, Philipp Allgeuer, Hafez Farazi 等
2018-09-13T13:02:17Z
置信度 0.78
cs.RO
-
Social robots have emerged as valuable contributors to individuals' well-being coaching. Notably, their integration into long-term human coaching trials shows particular promise, emphasizing a complementary role alongside human coaches rather than outright rep…
arxiv
Atikkhan Faridkhan Nilgar, Manuel Dietrich, Kristof Van Laerhoven
2024-10-14T14:31:13Z
置信度 0.78
cs.HC
-
High-precision humanoid control is limited by target-domain dynamics mismatch, where the same control objective can induce different realized motions under changes in terrain, payload, or actuator response. Existing methods either pursue zero-shot transfer thr…
arxiv
Angchen Xie, Nikhil Sobanbabu, Ishayu Shikhare, Alan Wang 等
2026-06-26T16:05:10Z
置信度 0.78
cs.RO
-
This paper describes a between-subjects Amazon Mechanical Turk study (n = 220) that investigated how a robot's affective narrative influences its ability to elicit empathy in human observers. We first conducted a pilot study to develop and validate the robot's…
arxiv
Morten Roed Frederiksen, Katrin Fischer, Maja Matarić
2024-01-05T07:35:29Z
置信度 0.78
cs.ROcs.HC
-
Robots playing soccer often rely on hard-coded behaviors that struggle to generalize when the game environment change. In this paper, we propose a temporal logic based approach that allows robots' behaviors and goals to adapt to the semantics of the environmen…
arxiv
Vincenzo Suriani, Emanuele Musumeci, Daniele Nardi, Domenico Daniele Bloisi
2024-05-21T09:30:47Z
置信度 0.78
cs.ROcs.AI
-
Human demonstrations are important in a range of robotics applications, and are created with a variety of input methods. However, the design space for these input methods has not been extensively studied. In this paper, focusing on demonstrations of hand-scale…
arxiv
Pragathi Praveena, Guru Subramani, Bilge Mutlu, Michael Gleicher
2019-01-31T21:34:41Z
置信度 0.78
cs.RO
-
Recently, model-free reinforcement learning algorithms have been shown to solve challenging problems by learning from extensive interaction with the environment. A significant issue with transferring this success to the robotics domain is that interaction with…
arxiv
Jake Bruce, Niko Suenderhauf, Piotr Mirowski, Raia Hadsell 等
2017-11-28T06:03:14Z
置信度 0.78
cs.AIcs.LGcs.RO
-
Building humanoid robots capable of generalizable whole-body loco-manipulation in the real world remains a fundamental challenge. Existing methods either rely on laborious task-specific reward engineering, rigidly replay reference motions that fail to generali…
arxiv
Tianshu Wu, Xiangqi Kong, Yue Chen, Qize Yu 等
2026-05-19T18:24:05Z
置信度 0.78
cs.ROcs.AIcs.CV
-
When encountering a robot in the wild, it is not inherently clear to human users what the robot's capabilities are. When encountering misunderstandings or problems in spoken interaction, robots often just apologize and move on, without additional effort to mak…
arxiv
Merle M. Reimann, Koen V. Hindriks, Florian A. Kunneman, Catharine Oertel 等
2025-02-03T15:38:38Z
置信度 0.78
cs.ROcs.HC
-
Recent advancements in robot capabilities have enabled them to interact with people in various human-social environments (HSEs). In many of these environments, the perception of the robot often depends on its capabilities, e.g., task competency, language fluen…
arxiv
Shahira Ali, Haley N. Green, Tariq Iqbal
2024-10-14T20:51:16Z
置信度 0.78
cs.RO
-
Mirroring non-verbal social cues such as affect or movement can enhance human-human and human-robot interactions in the real world. The robotic platforms and control methods also impact people's perception of human-robot interaction. However, limited studies h…
arxiv
Di Fu, Fares Abawi, Philipp Allgeuer, Stefan Wermter
2024-01-22T16:14:57Z
置信度 0.78
cs.ROcs.HC
-
Ambiguity in natural language instructions poses significant risks in safety-critical human-robot interaction, particularly in domains such as surgery. To address this, we propose a framework that uses Large Language Models (LLMs) for ambiguity detection speci…
arxiv
Ana Davila, Jacinto Colan, Yasuhisa Hasegawa
2025-07-15T17:53:36Z
置信度 0.78
cs.ROcs.HC
-
We present CLIPSwarm, an algorithm to generate robot swarm formations from natural language descriptions. CLIPSwarm receives an input text and finds the position of the robots to form a shape that corresponds to the given text. To do so, we implement a variati…
arxiv
Pablo Pueyo, Eduardo Montijano, Ana C. Murillo, Mac Schwager
2023-11-18T11:46:42Z
置信度 0.78
cs.RO
-
To reduce the computational cost of humanoid motion generation, we introduce a new approach to representing robot kinematic reachability: the differentiable reachability map. This map is a scalar-valued function defined in the task space that takes positive va…
arxiv
Masaki Murooka, Iori Kumagai, Mitsuharu Morisawa, Fumio Kanehiro
2025-08-15T07:22:57Z
置信度 0.78
cs.RO
-
Social Robot Lumen is a humanoid robot created to act like human and be human friend. In this study, Lumen scenario is limited on Lumen as an exhibition guide in Electrical Engineering Days 2015, a seminar and exhibition of electrical engineering undergraduate…
arxiv
Putri Nhirun Rikasofiadewi, Ary Setijadi Prihatmanto
2016-07-16T16:50:54Z
置信度 0.78
cs.HCcs.ROcs.SD
-
Humans rely on the synergistic control of head (cephalomotor) and eye (oculomotor) to efficiently search for visual information in 360°. However, prior approaches to visual search are limited to a static image, neglecting the physical embodiment and its intera…
arxiv
Heyang Yu, Yinan Han, Xiangyu Zhang, Baiqiao Yin 等
2025-11-25T14:30:10Z
置信度 0.78
cs.CV
-
openalex
Stefan Schaal, Stefan Schaal
1999-06-01
置信度 0.72
ImitationHumanoid robotCognitive imitationArtificial intelligencePerception
-
openalex
Cynthia Breazeal
2003-04-23
置信度 0.72
EmotiveHumanoid robotViewpointsRobotPsychology
-
We present a programming-by-demonstration framework for generically extracting the relevant features of a given task and for addressing the problem of generalizing the acquired knowledge to different contexts. We validate the architecture through a series of e…
openalex
Sylvain Calinon, F. Guenter, Aude Billard
2007-03-16
置信度 0.72
Humanoid robotComputer scienceArtificial intelligenceBernoulli's principleMetric (unit)
-
A development of humanoid robot HRP-2 is presented in this paper. HRP-2 is a humanoid robotics platform, which we developed in phase two of HRP. HRP was a humanoid robotics project, which had run by the Ministry of Economy, Trade and Industry (METI) of Japan f…
openalex
Kenji Kaneko, Fumio Kanehiro, Shuuji Kajita, Hirohisa Hirukawa 等
2004-01-01
置信度 0.72
Humanoid robotRoboticsComputer scienceArtificial intelligenceChristian ministry
-
Interactions between consumers and humanoid service robots (HSRs; i.e., robots with a human-like morphology such as a face, arms, and legs) will soon be part of routine marketplace experiences. It is unclear, however, whether these humanoid robots (compared wi…
openalex
Martin Mende, Maura L. Scott, Jenny van Doorn, Dhruv Grewal 等
2019-04-22
置信度 0.72
Service (business)BusinessBelongingnessPurchasingConsumption (sociology)
-
Presents an approach to movement planning, on-line trajectory modification, and imitation learning by representing movement plans based on a set of nonlinear differential equations with well-defined attractor dynamics. The resultant movement plan remains an au…
openalex
Auke Jan Ijspeert, Jun Nakanishi, Stefan Schaal
2003-06-25
置信度 0.72
Humanoid robotTrajectoryAttractorMovement (music)Robot
-
We report about the iCub, a humanoid robot for research in embodied cognition. At 104 cm tall, the iCub has the size of a three and half year old child. It will be able to crawl on all fours and sit up to manipulate objects. Its hands have been designed to sup…
openalex
Giorgio Metta, Giulio Sandini, David Vernon, Lorenzo Natale 等
2008-08-19
置信度 0.72
iCubHumanoid robotDownloadEmbodied cognitionComputer science
-
openalex
Rodney A. Brooks, Cynthia Breazeal, Matthew Marjanović, Brian Scassellati 等
1999-01-01
置信度 0.72
Computer scienceKinesthetic learningHumanoid robotHuman–computer interactionArtificial intelligence
-
openalex
Shuuji Kajita, Hirohisa Hirukawa, Kensuke Harada, Kazuhito Yokoi
2014-01-01
置信度 0.72
Humanoid robotRoboticsArtificial intelligenceRobotComputer science
-
openalex
David E. Orin, Ambarish Goswami, Sung‐Hee Lee, Sung-Hee Lee
2013-06-18
置信度 0.72
Humanoid robotComputer scienceAngular momentumSylvester's law of inertiaInertia
-
Purpose Service robots can offer benefits to consumers (e.g. convenience, flexibility, availability, efficiency) and service providers (e.g. cost savings), but a lack of trust hinders consumer adoption. To enhance trust, firms add human-like features to robots…
openalex
Michelle M. E. van Pinxteren, Ruud W.H. Wetzels, Jessica Rüger, Mark Pluymaekers 等
2019-07-23
置信度 0.72
GazeHumanoid robotPerceptionPsychologyFlexibility (engineering)
-
openalex
Giorgio Metta, Lorenzo Natale, Francesco Nori, Giulio Sandini 等
2010-09-04
置信度 0.72
iCubHumanoid robotComputer scienceHuman–computer interactionSoftware
-
Honda has been doing research on robotics since 1986 with a focus upon bipedal walking technology. The research started with straight and static walking of the first prototype two-legged robot. Now, the continuous transition from walking in a straight line to …
openalex
Masato Hirose, Kenichi Ogawa
2006-11-17
置信度 0.72
Humanoid robotRobotRoboticsComputer scienceFocus (optics)
-
openalex
Stefan Schaal
2006-07-27
置信度 0.72
Artificial intelligenceRoboticsComputer scienceMovement (music)Humanoid robot
-
openalex
Minoru Asada, Karl F. MacDorman, Hiroshi Ishiguro, Yasuo Kuniyoshi
2001-11-01
置信度 0.72
Humanoid robotComputer scienceDevelopmental roboticsRoboticsArtificial intelligence
-
NASA and General Motors have developed the second generation Robonaut, Robonaut 2 or R2, and it is scheduled to arrive on the International Space Station in early 2011 and undergo initial testing by mid-year. This state of the art, dexterous, anthropomorphic r…
openalex
Myron Diftler, Frank Permenter, Brian Hargrave, Robert W. Platt 等
2011-05-01
置信度 0.72
MechatronicsHumanoid robotModularity (biology)Computer scienceInterface (matter)
-
In this paper, the development of humanoid robot HRP-3 is presented. HRP-3, which stands for Humanoid Robotics Platform-3, is a human-size humanoid robot developed as the succeeding model of HRP-2. One of features of HRP-3 is that its main mechanical and struc…
openalex
Kenji Kaneko, Kensuke Harada, Fumio Kanehiro, G. Miyamori 等
2008-09-01
置信度 0.72
Humanoid robotComputer scienceArtificial intelligenceRoboticsRobot