Robotics Research
The 19th International Symposium ISRR
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Book and Conference Proceedings
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Article
Open AccessAdaptive attention-based human machine interface system for teleoperation of industrial vehicle
This study proposes a Human Machine Interface (HMI) system with adaptive visual stimuli to facilitate teleoperation of industrial vehicles such as forklifts. The proposed system estimates the context/work stat...
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Article
Open AccessDual edge classifier for robust cloth unfolding
Compared with more rigid objects, clothing items are inherently difficult for robots to recognize and manipulate. We propose a method for detecting how cloth is folded, to facilitate choosing a manipulative ac...
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Chapter and Conference Paper
Modeling Viewpoint of Forklift Operators Using Context-Based Clustering of Gaze Fixations
This study proposes a method to find optimal viewpoints for Human Machine Interface (HMI) of teleoperation system using human visual pattern. Forklift operation is used as a case study due to its operation com...
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Living Reference Work Entry In depth
Humanoid Robots
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Chapter and Conference Paper
Toward a Human(oid) Motion Planner
This paper outlines our research activities on motion planning and optimization for humanoid and their applications for human motion analysis and understanding. Starting research that applies geometric and kin...
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Chapter and Conference Paper
Towards Unified Framework for Trajectory Optimization Using General Differential Kinematics and Dynamics
This paper presents a new framework for trajectory optimization using comprehensive differential kinematics and dynamics theory, and also its applications and perspectives. For a robotic system with large degr...
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Reference Work Entry In depth
Humanoid Motion Planning, Optimization, and Gait Generation: Open Questions and Future Directions
This chapter discusses open questions and future research directions in the field of motion planning, optimization and gait generation for humanoid robots. While being far from exhaustive, it lists the most im...
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Reference Work Entry In depth
Introduction: Motion Planning, Optimization, and Biped Gait Generation
This introduction briefly overviews the common issues we encounter when we want to plan the motion of a humanoid robot to achieve its goal in different situations. Essential techniques to compute humanoid moti...
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Reference Work Entry In depth
Toward New Humanoid Applications: Wearable Device Evaluation Through Human Motion Reproduction
This chapter addresses a new application of humanoid robot for evaluation of wearable assistive devices. One of the issues for diffusion of assistive devices that has been developed recently is its objective a...
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Reference Work Entry In depth
Whole-Body Motion Planning
This chapter addresses whole-body motion planning for humanoid robots. Taking advantage of recent progress of motion planning techniques for many degree of freedom (DOF) systems, early work in humanoid motion ...
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Article
Open AccessHuman-based framework for the assembly of elastic objects by a dual-arm robot
This paper proposes a new framework for planning assembly tasks involving elastic parts. As an example of these kind of assembly tasks, we deal with the insertion of ring-shaped objects into a cylinder by a du...
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Living Reference Work Entry In depth
Humanoid Motion Planning, Optimization, and Gait Generation: Open Questions and Future Directions
This chapter discusses open questions and future research directions in the field of motion planning, optimization and gait generation for humanoid robots. While being far from exhaustive, it lists the most im...
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Living Reference Work Entry In depth
Introduction: Motion Planning, Optimization, and Biped Gait Generation
This introduction briefly overviews the common issues we encounter when we want to plan the motion of a humanoid robot to achieve its goal in different situations. Essential techniques to compute humanoid moti...
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Living Reference Work Entry In depth
Toward New Humanoid Applications: Wearable Device Evaluation Through Human Motion Reproduction
This chapter addresses a new application of humanoid robot for evaluation of wearable assistive devices. One of the issues for diffusion of assistive devices that has been developed recently is its objective a...
-
Living Reference Work Entry In depth
Whole-Body Motion Planning
This chapter addresses whole-body motion planning for humanoid robots. Taking advantage of recent progress of motion planning techniques for many degree of freedom (DOF) systems, early work in humanoid motion ...
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Article
Multi-contact vertical ladder climbing with an HRP-2 humanoid
We describe the research and the integration methods we developed to make the HRP-2 humanoid robot climb vertical industrial-norm ladders. We use our multi-contact planner and multi-objective closed-loop contr...
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Chapter
Humanoids
Humanoid robots selectively immitate aspects of human form and behavior. Humanoids come in a variety of shapes and sizes, from complete human-size legged robots to isolated robotic heads with human-like sensin...
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Chapter
Lattice-Based Modular Self-Reconfigurable Systems
This chapter presents a review of research related to self-reconfigurable systems at AIST, particularly addressing their lattice nature. Mainly, three systems are described: Fractum in a 2D hexagonal lattice, ...
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Chapter
Optimization and Imitation Problems for Humanoid Robots
In this paper, the problems of humanoid robot motion optimization and human motion imitation by a humanoid robot are investigated. At first, we propose a unified framework for the optimization of humanoid robo...
