A humanoid soccer robot named TWNHR-IV and designed by the TKU team to attend the HuroSot League of FIRA RoboWorld Cup is presented. A platform for the study of biped walking control is designed and implemented. A system architecture for TWNHR-IV is presented, where a CMOS sensor, a digital compass, an accelerometer, and eight pressure sensors are used to obtain the information of the environme...

In this article, we present our work to provide a navigation and localization system on a constrained humanoid platform, the NAO robot, without modifying the robot sensors. First we try to implement a simple and light version of classical monocular Simultaneous Localization and Mapping (SLAM) algorithms, while adapting to the CPU and camera quality, which turns out to be insufficient on the pla...

We contribute a method for complementing an existing algorithmic solution to performing a low level skill with corrective human demonstration to improve skill execution performance. We apply the proposed method to biped walking problem, which is a good example of a complex low level skill due to the complicated dynamics of the walk process in a high dimensional state and action space. We introd...

Problem statement: Present researches focus to make humanoid robots more and more autonomous so they can assist human in daily works like taking care of children, aged or disabled persons. In such social activities, the contemporary humanoid robots are expected to have human like morphology and gait. Studies on bipedal locomotion for humanoid robots are then part of the hottest topics in the fi...

Abstract: Due to the complex nature of the humanoid model structure and unavailability of its mathematical model, the model of humanoid structure is developed and then simulated in MSC Visual Nastran to find the dynamics of humanoid model walk with walker and the reference trajectories for normal walk are obtained. Further estimation of the joint torques and the development of a controller to c...

The authors have been developing humanoid robots in order to develop new mechanisms and functions for a humanoid robot that has the ability to communicate naturally with a human by expressing human-like emotion. We considered that human hands play an important role in communication because human hands have grasping, sensing and emotional expression abilities. Then, we developed the the Emotion ...

In several realistic domains an agent’s behavior is composed of multiple interdependent skills. For example, consider a humanoid robot that must play soccer, as is the focus of this paper. In order to succeed, it is clear that the robot needs to walk quickly, turn sharply, and kick the ball far. However, these individual skills are ineffective if the robot falls down when switching from walking...

In several realistic domains an agent’s behavior is composed of multiple interdependent skills. For example, consider a humanoid robot that must play soccer, as is the focus of this paper. In order to succeed, it is clear that the robot needs to walk quickly, turn sharply, and kick the ball far. However, these individual skills are ineffective if the robot falls down when switching from walking...

This paper details the hardware, software, and electrical design of the humanoid robot CHARLI-2 (Cognitive Humanoid Autonomous Robot with Learning Intelligence). CHARLI-2 was the first robot from the United States to be awarded the Louis Vouitton Best Humanoid Award.