🤖 How to make a Robot That Can Write and Draw Like a Human
Humans learn handwriting by imitating letters and practicing strokes. Similarly, a robot…
Affective Human-Humanoid
Interaction Through Cognitive Architecture Development of humanoid robots has to address two vital aspects, namely physical appearance and gestures, that will allow the machines to closely resemble humans. Other aspects such as "social" and "emotional" will enable human-machine interaction to be as natural as possible. The field of robotics has long been investigating how effective interaction between humans and autonomous and intelligent mechanical system can be possible (Goodrich & Schultz., 2007). Several distinctive features have been determined depending on whether a robot that acts as an assistant (for example, in the course of a business) or …
Grasp Planning for a Humanoid Hand
We focus on grasp planning for a humanoid multi-fingered hand attached at the tip of a humanoid robot’s arm. The hand has potential possibility to grasp various objects under several situations. Since the multi-fingered hand can use several grasp types such as fingertip grasp, and envelope grasp with taking the advantage of degrees of freedom. We develop grasp planner which selects a feasible grasp type based on the task, and determines contact positions for the fingers and the grasped object surface so that the fingers do not drop the object while staying with limited actuator capacity. To grasp an object, the robot first measures object position/orientation using vision sensor. Then, the planner plans the body motion to complete the grasping task based on vision sensor information. Even when the object’s location is not known beforehand, the robot should complete the grasping task as fast as possible. However, grasp planning with a humanoid robot is complex and often requires long calculation time. Hence, for the grasp planning, a heuristic but fast algorithm is preferred rather than precise but slow algorithms (Shimoga (1989)). Our planner calculates grasp motions within reasonable time by using predefined grasp types which are assigned with contacting finger links, desired sizes of the grasped object. Our planner selects a grasp type according to position/orientation of the grasped object similar to a human. As shown in Fig. 1 , a human grasps the side of the can with all fingers, grasps the top with fewer fingers. Failing to find feasible grasping posture using arm/hand kinematics alone, our planner attempts to do so using the full body kinematics. Using the degrees of freedom of full body, the planner has adaptable for reaching the object with the several…
Performing Periodic Tasks: On-Line Learning, Adaptation and Synchronization with External Signals
One of the central issues in robotics and animal motor control is the problem of trajectory generation and modulation. Since in many cases trajectories have to be modified on-line when goals are changed, obstacles are encountered, or when external perturbations occur, the notions of trajectory generation and trajectory modulation are tightly coupled. This chapter addresses some of the issues related to trajectory generation and modulation, including the supervised learning of periodic trajectories, and with an emphasis on the learning of the frequency and achieving and maintaining synchronization to external signals. Other addressed issues include robust movement execution despite external perturbations, modulation of the trajectory to reuse it under modified conditions and adaptation of the…
Development of Multi-Fingered Universal Robot Hand with Torque Limiter Mechanism
Today, various industrial robots are developed and used all over the world. However, these industrial robots are specialized in particular operations. In fact, one industrial robot is not able to be designed for operating various tasks. One of the causes is that general-purpose and multifunctional robot hands substituted human manual-handling task are not brought to realization. If these robot hands like human hands are consummated, the applicable field of industrial robots is extended, and the utilization efficiency is improved very much. A human hand has mechanical handling function such as grab, grip, pinch, push and pull. In addition, it can sense the feeling such as configuration, hard, flexible, smoothness and asperity. In other words, a human hand is a multifunctional and a universal end effector.…




