This paper presents the architecture and key components of a simulated humanoid robot soccer team, UT Austin Villa, which was designed to compete in the RoboCup 3D simulation competition. These key components include (1) an omnidirectional walk engine and associated walk parameter optimization framework, (2) an inverse kinematics based kicking architecture, and (3) a dynamic role assignment and...

We have developed a humanoid robot HRP-1S that is capable of simultaneous whole body motion control. In phase one of the Humanoid Robotics Project (HRP) of the Ministry of Economy, Trade and Industry of Japan, Honda R&D Co. Ltd has produced humanoid robot HRP-1 as a humanoid research platform to ease the development of good applications for humanoid robots in phase two of HRP. However, HRP-1 co...

This paper analyses the torque characteristics of the shoulder and elbow joints of a humanoid robot arm that is useful for an object lifting and transferring task instead of human beings. For the purpose, some typical human lifting behaviors are considered, and various simulations for lifting and transferring an object have been performed by employing a humanoid robot arm having a simple config...

Since 1996, we have embarked into the journey of developing humanoid robots at Nanyang Technological University, Singapore. We have ventured into the various technical aspects of humanoid robot development. In particular, we have placed special emphasis on mechatronics design of humanoid robots, planning and control of biped walking, hand-eye coordination for humanoid robots, cognitive vision f...

Many people working in AI see the construction of an android with human-like abilities as the main goal of AI. For example, Charniak and McDermott write [4, p. 7]: The ultimate goal of AI research (which we are very far from achieving) is to build a person, or, more humbly, an animal. Those working on the MIT Cog Project are more explicit [3]: Building an android, an autonomous robot with human...

In this paper a case study of cooperation of a strongly heterogeneous autonomous robot team, composed of a highly articulated humanoid robot and a wheeled robot with largely complementing and some redundant abilities is presented. By combining strongly heterogeneous robots the diversity of achievable tasks increases as the variety of sensing and motion abilities of the robot system is extended ...

In this paper, we describe a new real-time visual system that enables a humanoid robot to learn from and interact with humans. The core of the visual system is a probabilistic tracker that uses shape and color information to find relevant objects in the scene. Multiscale representations, windowing and masking are employed to accelerate the data processing. The perception system is directly coup...

This document describes the hardware and software architecture behind the ELVIS robot. ELVIS is a bipedal robot with human-like geometry and motion capabilities | a humanoid. ELVIS is also the rst robot in a series of planned humanoid experiments, all of which will be primarily controlled by evolutionary adaptive methods. The nal goal of our research project is to build a human-sized robot base...

The control of a biped humanoid is a difficult task due to the hard-to-stabilize dynamics. Walking reference trajectory generation is a key problem. Reference generation techniques with the so-called Linear Inverted Pendulum Model (LIPM) are reported. Improved versions of the LIPM based reference generation are obtained by applying the Zero Moment Point (ZMP) Criterion, widely employed in the s...

Soccer Humanoid robots must be able to fulfill their tasks in a highly dynamic soccer field, which requires highly responsive and dynamic locomotion. It is very difficult to keep humanoids balance during walking. The position of the Zero Moment Point (ZMP) is widely used for dynamic stability measurement in biped locomotion. In this paper, we present an omnidirectional walk engine, which mainly...