Accuracy and speed of movement is required for a goalkeeper robot in the Robocup soccer competition. Moreover, instability and robustness of goalkeeper robot is often a problem in itself that often arise especially if the robot is a humanoid robot. There are various methods on how to improve the performance of movement of humanoid robot have been actively studied. So now we propose how to optim...

The present paper aims at a descriptive analysis of the main perceptual and social features of natural conditions of agent interaction, which can be specified by agent in humanhumanoid robot interaction. A principled approach to humanrobot interaction may be assumed to comply with the natural conditions of agents overt perceptual and social behaviour. To validate our research we used the minima...

The RoboCup is an initiative to promote the development of robotics in a social relevant way. The competition consists of several leagues and it would be beneficial if developments in one league could be reused in other leagues. This paper describes the development of a simulation model for a humanoid robot inside USARSim, which could be the basis of synergy between the Rescue Simulation, Socce...

This paper deals with implementation of a distributed controller for a humanoid robot. This teen sized humanoid robot Archie is currently under development. The main idea is to develop a cost oriented humanoid robot (COHR) to assist humans for their daily life. After a short description of the existing hardware, the control is described. The control is realized by a PI controller for position a...

In this paper we present an algorithm for planning the path of a 3 DOF mobile platform for a humanoid robot. It is simple enough to be executed online and yet powerful enough to generate a smooth path from starting point and orientation to a destination point with a different orientation. Thus we strive to achieve a human-like appearance of our robot that encourages the humans in vicinity to in...

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...