Humanoid Robots New Developments Humanoid Robots New Developments Edited by Armando Carlos de Pina Filho I-Tech IV Published by Advanced Robotic Systems International and I-Tech I-Tech Vienna Austria Abstracting and non-profit use of the material is permitted with credit to the source. Statements and opinions expressed in the chapters are these of the individual contributors and not necessarily those of the editors or publisher. No responsibility is accepted for the accuracy of information contained in the published articles. Publisher assumes no responsibility liability for any damage or injury to persons or property arising out of the use of any materials, instructions, methods or ideas contained inside. After this work has been published by the Advanced Robotic Systems International, authors have the right to republish it, in whole or part, in any publication of which they are an author or editor, and the make other personal use of the work. © 2007 Advanced Robotic Systems International www.ars-journal.com Additional copies can be obtained from: publication@ars-journal.com First published June 2007 Printed in Croatia A catalogue record for this book is available from the Austrian Library. Humanoid Robots, New Developments, Edited by Armando Carlos de Pina Filho p. cm. ISBN 978-3-902613-00-4 1. Humanoid Robots. 2. Applications. I. Armando Carlos de Pina Filho V Preface For many years, the human being has been trying, in all ways, to recreate the com- plex mechanisms that form the human body. Such task is extremely complicated and the results are not totally satisfactory. However, with increasing technological advances based on theoretical and experimental researches, man gets, in a way, to copy or to imitate some systems of the human body. These researches not only intended to create humanoid robots, great part of them constituting autonomous systems, but also, in some way, to offer a higher knowl- edge of the systems that form the human body, objectifying possible applications in the technology of rehabilitation of human beings, gathering in a whole studies related not only to Robotics, but also to Biomechanics, Biomimmetics, Cybernetics, among other areas. This book presents a series of researches inspired by this ideal, carried through by various researchers worldwide, looking for to analyze and to discuss diverse sub- jects related to humanoid robots. The presented contributions explore aspects about robotic hands, learning, language, vision and locomotion. From the great number of interesting information presented here, I believe that this book can offer some aid in new research, as well as stimulating the interest of peo- ple for this area of study related to the humanoid robots. Editor Armando Carlos de Pina Filho VII Contents Preface V 1. Design of modules and components for humanoid robots 001 Albert Albers, Sven Brudniok, Jens Ottnad, Christian Sauter and Korkiat Sedchaicharn 2. Gait Transition from Quadrupedal to Bipedal Locomotion of an Oscillator-driven Biped Robot 017 Shinya Aoi and Kazuo Tsuchiya 3. Estimation of the Absolute Orientation of a Five-link Walking Robot with Passive Feet 031 Yannick Aoustin, Gaëtan Garcia and Philippe Lemoine 4. Teaching a Robotic Child - Machine Learning Strategies for a Humanoid Robot from Social Interactions 045 Artur Arsenio 5. Biped Gait Generation and Control Based on Mechanical Energy Constraint 069 Fumihiko Asano, Masaki Yamakita, Norihiro Kamamichi and Zhi-Wei Luo 6. Dynamic Simulation of Single and Combined Trajectory Path Generation and Control of A Seven Link Biped Robot 089 Ahmad Bagheri 7. Analytical criterions for the generation of highly dynamic gaits for humanoid robots: dynamic propulsion criterion and dynamic propulsion potential 121 Bruneau Olivier and David Anthony 8. Design of a Humanoid Robot Eye 137 Giorgio Cannata and Marco Maggiali 9. Multicriteria Optimal Humanoid Robot Motion Generation 157 Genci Capi, Yasuo Nasu, Mitsuhiro Yamano and Kazuhisa Mitobe 10. An Incremental Fuzzy Algorithm for The Balance of Humanoid Robots 171 Erik Cuevas, Daniel Zaldivar, Ernesto Tapia and Raul Rojas 11. Spoken Language and Vision for Adaptive Human-Robot Cooperation 185 Peter Ford Dominey VIII 12. Collision-Free Humanoid Reaching: Past, Present, and Future 209 Evan Drumwright and Maja Mataric 13. Minimum Energy Trajectory Planning for Biped Robots 227 Yasutaka Fujimoto 14. Real-time Vision Based Mouth Tracking and Parameterization for a Humanoid Imitation Task 241 Sabri Gurbuz, Naomi Inoue and Gordon Cheng 15. Clustered Regression Control of a Biped Robot Model 253 Olli Haavisto and Heikki Hyötyniemi 16. Sticky Hands 265 Joshua G. Hale and Frank E. Pollick 17. Central pattern generators for gait generation in bipedal robots 285 Almir Heralic, Krister Wolff and Mattias Wahde 18. Copycat hand - Robot hand generating imitative behaviour at high speed and with high accuracy 305 Kiyoshi Hoshino 19. Energy-Efficient Walking for Biped Robot Using Self-Excited Mechanism and Optimal Trajectory Planning 321 Qingjiu Huang & Kyosuke Ono 20. Geminoid: Teleoperated android of an existing person 343 Shuichi Nishio, Hiroshi Ishiguro and Norihiro Hagita 21. Obtaining Humanoid Robot Controller Using Reinforcement Learning 353 Masayoshi Kanoh and Hidenori Itoh 22. Reinforcement Learning Algorithms In Humanoid Robotics 367 Dusko Katic and Miomir Vukobratovic 23. A designing of humanoid robot hands in endoskeleton and exoskeleton styles 401 Ichiro Kawabuchi 24. Assessment of the Impressions of Robot Bodily Expressions using Electroencephalogram Measurement of Brain Activity 427 A. Khiat, M. Toyota, Y. Matsumoto and T. Ogasawara 25. Advanced Humanoid Robot Based on the Evolutionary Inductive Self-organizing Network 449 Dongwon Kim, Gwi-Tae Park IX 26. Balance-Keeping Control Of Upright Standing In Byped Human Beings And Its Application For Stability Assessment 467 Yifa Jiang and Hidenori Kimura 27. Experiments on Embodied Cognition: A Bio-Inspired Approach for Robust Biped Locomotion 487 Frank Kirchner, Sebastian Bartsch and Jose DeGea 28. A Human Body Model for Articulated 3D Pose Tracking 505 Steffen Knoop, Stefan Vacek and Rüdiger Dillmann 29. Drum Beating and a Martial Art Bojutsu Performed by a Humanoid Robot 521 Atsushi Konno, Takaaki Matsumoto, Yu Ishida, Daisuke Sato & Masaru Uchiyama 30. On Foveated Gaze Control and Combined Gaze and Locomotion Planning 531 Kolja Kühnlenz, Georgios Lidoris, Dirk Wollherr and Martin Buss 31. Vertical Jump: Biomechanical Analysis and Simulation Study 551 Jan Babic and Jadran Lenarcic 32. Planning Versatile Motions for Humanoid in a Complex Environment 567 Tsai-Yen Li and Pei-Zhi Huang 1 Design of Modules and Components for Humanoid Robots Albert Albers, Sven Brudniok, Jens Ottnad, Christian Sauter, Korkiat Sedchaicharn University of Karlsruhe (TH), Institute of Product Development Germany 1. Introduction The development of a humanoid robot in the collaborative research centre 588 has the objective of creating a machine that closely cooperates with humans. The collaborative research centre 588 (SFB588) “Humanoid Robots – learning and cooperating multi-modal robots” was established by the German Research Foundation (DFG) in Karlsruhe in May 2000. The SFB588 is a cooperation of the University of Karlsruhe, the Forschungszentrum Karlsruhe (FZK), the Research Center for Information Technologies (FZI) and the Fraunhofer Institute for Information and Data Processing (IITB) in Karlsruhe. In this project, scientists from different academic fields develop concepts, methods and concrete mechatronic components and integrate them into a humanoid robot that can share its working space with humans. The long-term target is the interactive cooperation of robots and humans in complex environments and situations. For communication with the robot, humans should be able to use natural communication channels like speech, touch or gestures. The demonstration scenario chosen in this project is a household robot for various tasks in the kitchen. Humanoid robots are still a young technology with many research challenges. Only few humanoid robots are currently commercially available, often at high costs. Physical prototypes of robots are needed to investigate the complex interactions between robots and humans and to integrate and validate research results from the different research fields involved in humanoid robotics. The development of a humanoid robot platform according to a special target system at the beginning of a research project is often considered a time consuming hindrance. In this article a process for the efficient design of humanoid robot systems is presented. The goal of this process is to minimize the development time for new humanoid robot platforms by including the experience and knowledge gained in the development of humanoid robot components in the collaborative research centre 588. Weight and stiffness of robot components have a significant influence on energy efficiency, operating time, safety for users and the dynamic behaviour of the system in general. The finite element based method of topology optimization gives designers the possibility to develop structural components efficiently according to specified loads and boundary conditions without having to rely on coarse calculations, experience or [...]... Shoulder 5 6 7 Neck 8 9 10 11 Torso 12 13 14 D.O.F amount total 2 2 4 2 2 4 3 2 6 4 1 4 3 1 3 21 -3 0° to 30° -6 0° to 60° -9 0° to 90° -1 0° to 15 0° -1 80° to 18 0° -4 5° to 18 0° -1 0° to 18 0° -1 80° to 18 0° -4 5° to 45° -4 5° to 45° -6 0° to 60° -1 80° to 18 0° -1 0° to 60° -2 0° to 20° Table 1 Degrees of freedom with range of motion 5 .1 Shoulder joint The shoulder joint is the link between the arm and the torso In... generate rhythmic behavior based on the following phase dynamics: 22 Humanoid Robots, New Developments = = = = I T i A i L ˆ + g1I ˆ + g1T i i ˆ + g 1 A + g 2 A i = 1, 2 i i ˆ + g 1 L + g 2 L i = 1, 2 (1) i i where g1I , g1T , g1A , and g1L (i =1, 2) are functions regarding the nominal phase i i relationship shown below, g 2 A and g2 L (i =1, 2) are functions arising from sensory signals given below, and ˆ... Compared with other humanoid robots, the arm of ARMAR III provides large and humanlike ranges of motion The neck joint with four degrees of freedom allows humanlike motion of the head Fig 8 Dimension of upper body 10 Humanoid Robots, New Developments Degree of freedom Range motion Part Wrist Elbow Shoulder Neck Torso Upper body of Wrist 1 2 Elbow 3 4 Shoulder 5 6 7 Neck 8 9 10 11 Torso 12 13 14 D.O.F amount... between i i oscillators Functions g1I , g1T , g1A , and g1L in Eq (1) , which deal with interlimb coordination, are given by the phase differences between oscillators based on Inter oscillator, written by g1I = − 2 i =1 K L sin( g1T = −K T sin( i g 1 A = −K A sin( T i A i L − − − I i L + ( 1) i / 2) ) i / 2) i = 1, 2 I + ( 1) I (3) i g 1 L = −K L sin( − I − ( 1) i / 2) i = 1, 2 where nominal phase relations... following two successive steps (see Fig 7): Step 1: while the robot walks quadrupedally, parameter during time interval T1 s, where 0 ≤ 1 ≤ 1 Step 2: at the beginning of the swing phase of Arm 1, and from 0 to 1, respectively, during time interval T2 s 1 1 and increases from 0 to 2 increase from 1 1 to 1 26 Note that parameter Humanoid Robots, New Developments 2 >0 geometrically indicates that the... parameters, 1 and 2 , are introduced, and parameters Δ A , Δ L , H A , H L , and T are designed as functions of parameters ΔA ( 1 , ΔL ( HA ( HL ( T( This aims to use parameters 1 , , 1 1, 1, 1 and 2 ) = ΔQ − {l TA sin A )=Δ 2) = H 2) = H 2) = 2 2 T ( 1, − {l TL sin T ( 1 , B Q + (H A − H A ) 2 B Q + (H L − H L ) 2 B Q +( T − T ) 2 Q L Q A Q L Q T 2 2 1 and ) + ΔQ } A ) + ΔQ } L 2 by 1 1 ( 6) to change...2 Humanoid Robots, New Developments intuition The design of the central support structure of the upper body of the humanoid robot ARMAR III is an example for how topology optimization can be applied in humanoid robotics Finally the design of the upper body of the humanoid ARMAR III is presented in detail 2 Demand for efficient design of humanoid robots Industrial robots are being used... activate their limbs (Grillner, 19 81, 19 85; Orlovsky et al., 19 99) CPGs modulate signal generation in response to sensory signals, resulting in adaptive motions CPGs are widely modeled using nonlinear oscillators (Taga et al., 19 91; Taga, 19 95a,b), and based on such CPG models many walking robots and their control systems have been developed, in particular, for quadruped robots (Fukuoka et al., 2003;... contralateral leg Quadrupedal ( ∗ ) -3 .0 -1 .6 22.2 22.2 14 .0 16 .5 72 12 B Q Δ A [cm] Δ L [cm] H A [cm] H L [cm] T Bipedal ( ∗ ) 1. 4 4.0 Parameter [deg] Table 2 Parameters for quadrupedal and bipedal locomotion (a) Quadrupedal locomotion Fig 6 Roll motion relative to the ground To accomplish gait transition, parameters Specifically, a trajectory in 1 − 2 (b) Bipedal locomotion 1 and 2 are changed to reflect... knowledge and product knowledge from industrial robots cannot be applied to humanoid robots The multi-modal interaction between a humanoid robot and its environment, the human users and eventually other humanoids cannot fully be simulated in its entire complexity To investigate these coherences, actual humanoid robots and experiments are needed Currently only toy robots and a few research platforms are commercially . 60° Elbow lj 3 lj 4 -9 0° to 90° -1 0° to 15 0° Shoulder lj 5 lj 6 lj 7 -1 80° to 18 0° -4 5° to 18 0° -1 0° to 18 0° Neck lj 8 lj 9 lj 10 lj 11 -1 80° to 18 0° -4 5° to 45° -4 5° to 45° -6 0° to 60° Range. body. 10 Humanoid Robots, New Developments Part D.O.F amount total Wrist Elbow Shoulder Neck Torso 2 2 3 4 3 2 2 2 1 1 4 4 6 4 3 Degree of freedom Upper body 21 Wrist lj 1 lj 2 -3 0° to 30° -6 0°. Humanoid Robots New Developments Humanoid Robots New Developments Edited by Armando Carlos de Pina Filho I-Tech IV Published by Advanced Robotic Systems International and I-Tech I-Tech Vienna