Tasks such as walking, standing up from a chair, dancing or opening a door have been implemented using the techniques proposed in this work. The experimental justification of this thesis was developed using the humanoid robot HOAP-3. Ai-Da, the worlds first humanoid artificial intelligence robot artist, was detained for 10 days at Egyptian customs ahead of her show there.
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It is complemented by an environment recognition module that identifies the free space in order to perform path planning and generate safe A humanoid robot is a robot with its overall appearance based on that of the human body, allowing interaction with made-for-human tools or environments. This method allows controlling the desired trajectory even with mismatches in the robot model.įinally, an architecture that encompasses all methods of postural planning and control is presented. Hondas ASIMO, an example of a humanoid robot. It uses the demonstrated action goal as a metrics of comparison, which is codified using the reward associated with the task execution.Īs an evolution of the previous study, this process is generalized to a set of sequential behaviors, which are executed by the robot based on human demonstrations.Īfterwards, the execution of postural movements using a robust control approach is proposed. Next, the process of human learning is studied in order to develop a novel method of postural task transference between a human and a robot. First, as an introduction of the thesis, a group of methodsĪnd mathematical formulations are presented, describing concepts such as humanoid robot modelling, generation of locomotion trajectories and generation of whole-body The announced price is 98000 YEN and as a matter of fact, the robot is/will be already available in Europe for 869 EUROs from this site. The work presents different contributions in the areas of humanoid robot postural control, behavior planning, non-linear control, learning from demonstration and reinforcement learning. Just came across yet another DIY robot kit from Japan i had never heard of : the Robonova-I from japanese manufacturer Hitec. Its objective is to make an advancement in the development of complex behaviors in humanoid robots, in order to allow them to share our environment in the future. It is motivated by the growth of robotics in our current society, where simple robots are being integrated. This thesis addresses the problem of planning and controlling complex tasks in a humanoid robot from a postural point of view.
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