This article presents the approaches taken to integrate a novel anthropomorphic robot hand into a humanoid robot. The requisites enabling such a robot hand to use everyday objects in an environment built for humans are presented. Starting from a design that resembles the human hand regarding size and movability of the mechatronical system, a low-level control system is shown providing reliable ...

Robot learning consists of a multitude of machine learning approaches, particularly reinforcement learning, inverse reinforcement learning, and regression methods, that have been adapted su ciently to domain so that they allow learning in complex robot systems such as helicopters, apping-wing ight, legged robots, anthropomorphic arms and humanoid robots. While classical arti cial intelligence-b...

In this project, a tele-operated anthropomorphic robotic arm and hand is designed and built as a versatile robotic arm system. The robot has the ability to manipulate objects such as pick and place operations. It is also able to function by itself, in standalone mode. Firstly, the robotic arm is built in order to interface with a personal computer via a serial servo controller circuit board. Th...

his article deals with the problem of how to control a robot to make it move like a human in order to use the advantages of such behavior. By solving this problem, robot specialists may find a way to improve robot control, while biomechanics specialists can find mathematical models to simulate systems of their field. For simulation testing, a writing task is selected that represents a typical “...

In this paper, we are proposing to develop an autonomous system using our anthropomorphic flutist robot which can interact naturally with humans. Therefore; the robot requires not only the ability of reproducing the score, but also needs the ability of extracting the symbolic descriptions defined by human through its sensors; to be used for deciding the next action of the robot. In this year, w...

We present a generative approach to behavioral organization which uses continuous dynamical systems for switching between multiple actions of an an-thropomorphic robot. The logical context of the possible actions is coded in matrices of parameters for a system of continuous diierential equations. The sensor context is represented by a set of variable parameters depending on the sensor inputs. T...

We describe the general concept, system architecture, hardware and the rst behavioral abilities of Arnold, a mobile autonomous service robot with a robot arm with seven degrees of freedom and a dual stereo camera head. Arnold is anthropomorphic for better adaptation to typical human environments and to allow for human-like behavioral strategies in solving complex tasks. Arnold was designed for ...

We present a portable active binocular robot vision architecture that integrates a number of visual behaviours. This vision architecture inherits the abilities of vergence, localisation, recognition and simultaneous identification of multiple target object instances. To demonstrate the portability of our vision architecture, we carry out qualitative and comparative analysis under two different ...

The Parasitic Humanoid (PH) is a wearable robot for modeling nonverbal human behavior. This anthropomorphic robot senses the behavior of the wearer and has the internal models to learn the process of human sensory motor integration, thereafter it begins to predict the next behavior of the wearer using the learned models. When the reliability of the prediction is sufficient, the PH outputs the e...

This paper describes the recent development of optical torque sensor in order to replace expensive strain gauge sensor attached at the tip of the anthropomorphic robot arm and realize local impedance control in each joint. Different shapes of mechanical structure of sensor as well as optical measurement approaches are given. The results of calculation of stress and tangential displacement using...