With the advance in robotic hardware and intelligent software, humanoid robot could play an important role in various fields including service for human assistance and heavy job for hazardous industry. Under unknown dynamics operating smart devices with a humanoid robot is a even more challenging task because a robot needs to learn both swipe actions and complex state transitions inside the sma...

In this paper we present a method of whole-body manipulation of large objects by a humanoid robot using a pivoting motion. Pivoting manipulation can be an alternative to pushing or lifting for more dexterous and stable operation, which is often used by humans to move large and bulky furniture. This paper describes a method and control techniques for a humanoid robot to perform the manipulation ...

This paper examines the use of human-centered design in the problem of robot grasping. Human-directed local autonomy is deened. The diierences between a humanoid robot for human service and an industrial robot are discussed. The hardware and software design of a humanoid robot is described. The problem of human-robot interaction is analyzed. The grasping problem is described and a solution prop...

This paper provides a brief description of Robo-Erectus Senior (RESr) AdultSize soccer playing humanoid robot developed at Advanced Robotics and Intelligent Control Centre of Singapore Polytechnic. We are currently in the stage of building a new hardware for this year competition. The new robot, RESr Bv-MkI will be used as the platform for competing in RoboCup humanoid league, and for our ongoi...

We have developed a simulator of humanoid robots and a controller of their whole body motions in MITI’s Humanoid Robotics Project. The simulator can emulate the dynamics of the motions of the robots whose structure may vary, and generate a sequence of the £elds of view from the eyes of the robot according to the motions. The structure-varying system is managed by introducing virtual links. The ...

Humanoid robots operating in everyday life environments must generate the gait based on the environmental conditions. Often the gait has to satisfy different objectives. In this paper, we present a new method for humanoid robot gait generation based on multiobjective evolutionary algorithms. In our method, we consider two different conflicting objectives for the humanoid robot gait generation: ...

Previous research on social interaction among humans suggested that interpersonal motor coordination can help to establish social rapport. Our research addresses the question of whether, in a human-humanoid interaction experiment, the human’s overall perception of a robot can be improved by realising motor coordination behaviour that allows the robot to adapt in real-time to a person’s behaviou...

Humanoid robot requires a robust prevention system against external disturbances to protect itself from falling to the ground and to perform its tasks completely. In this paper, a Falling Prevention System for humanoid robot is proposed to avoid falling from the disturbances, and helps humanoid robot recover its balance from external force by taking a step. The algorithm for the Falling Prevent...