This paper develops a brain-computer-interface (BCI) based humanoid robot control system. The system consists of an electroencephalograph (EEG), a humanoid robot, and a CCD camera. The goal of our study is to control humanoid walking behavior through neural signals acquired by the 32 channel EEG. The humanoid robot is equipped with an onboard PC and has 20 degrees of freedom (DOFs). The CCD cam...

Modeling empathic behaviors in social robots seems to be relevant to improve the overall human-robot interaction for the user. This paper proposes a technology that accommodates the differences between the human users, equipping humanoid robots with “personality”–as a pattern of affective behavioural traits that distinguish human partners from one another.

Social interaction between humans takes place in the spatial dimension on a daily basis. We occupy space for ourselves and respect the dynamics of spaces that are occupied by others. In human-robot interaction, the focus has been on other topics so far. Therefore, this work applies a spatial model to a humanoid robot and implements an attention system that is connected to it. The resulting beha...

Citation: Fischer T, Puigbò J-Y, Camilleri D, Nguyen PDH, Moulin-Frier C, Lallée S, Metta G, Prescott TJ, Demiris Y and Verschure PFMJ (2018) iCub-HRI: A Software Framework for Complex Human–Robot Interaction Scenarios on the iCub Humanoid Robot. Front. Robot. AI 5:22. doi: 10.3389/frobt.2018.00022 iCub-HRI: A Software Framework for Complex Human–Robot Interaction Scenarios on the iCub Humanoid...

This paper introduces a novel stereo vision based simulation system for a Humanoid Robot. This stereo vision system and robot controller is simulated dynamically and its performance evaluated for a standard humanoid robot benchmark problem. The vision system presented has been tested by simulating the dynamics of the robot system as well as the image processing subsystem. The real-time image pr...

Humanoid robotics is a promising field because the strong human preference to interact with anthropomorphic interfaces. Despite this, humanoid robots are far from reaching main stream adoption and the features available in such robots seem to lag that of the latest smartphones. A fragmented robot ecosystem and low incentives to developers do not help to foster the creation of Robot-Apps either....

This paper deals with the social human-robot interaction with children towards the application outside tightly controlled and constrained laboratory environments. We present our experience of using the Nao humanoid robotic platform in a role of a physiotherapist for rehabilitation and prevention of scoliosis in a children’s hospital and an elementary school in Slovakia. Before and between the e...

A novel balance control method for a humanoid robot is presented. It consists of a contact torque controller which is designed to have a good backdrivability and a feedback control of the total angular momentum and the center of gravity of a robot. A simulation result of a balance control using a 26 DOF humanoid robot model is shown.

Developing and testing the key modules of autonomous humanoid soccer robots (e.g., for vision, localization, and behavior control) in software-in-the-loop (SIL) experiments, requires real-time simulation of the main motion and sensing properties. These include humanoid robot kinematics and dynamics, the interaction with the environment, and sensor simulation, especially the camera properties. T...

The formulation and optimization of joint trajectories for humanoid robots is quite different from this same task for standard robots because of the complexity of the humanoid robots’ kinematics. In this paper we exploit the similarity between the movements of a humanoid robot and human movements to generate joint trajectories for such robots. In particular, we show how to transform human motio...