Publishing type：Research paper (international conference proceedings)   Publisher：ICST/ACM  

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Other Link： https://dblp.uni-trier.de/conf/bionetics/2015

Publishing type：Research paper (international conference proceedings)   Publisher：ICST  

DOI： 10.4108/icst.bict.2014.257883

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Other Link： https://dblp.uni-trier.de/db/conf/bionetics/bict2014.html#HayashiOHYL14

Language：English   Publishing type：Research paper (scientific journal)   Publisher：FRONTIERS MEDIA SA  

In parent-child communication, emotions are evoked by various types of intrinsic and extrinsic motivation. Those emotions encourage actions that promote more interactions. We present a motivation model of infant-caregiver interactions, in which relatedness, one of the most important basic psychological needs, is a variable that increases with experiences of emotion sharing. Besides being an important factor of pleasure, relatedness is a meta-factor that affects other factors such as stress and emotional mirroring. The proposed model is implemented in an artificial agent equipped with a system to recognize gestures and facial expressions. The baby-like agent successfully interacts with an actual human and adversely reacts when the caregiver suddenly ceases facial expressions, similar to the "still-face paradigm" demonstrated by infants in psychological experiments. In the simulation experiment, two agents, each controlled by the proposed motivation model, show relatedness-dependent emotional communication that mimics actual human communication.

DOI： 10.3389/fpsyg.2013.00618

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

Human feels three-dimensional effect for static image with the cues of various kinds of image features such as relative sizes of objects, up and down, rules of perspective, texture gradient, and shadow. The features are called pictorial depth cues. Human is thought to learn to extract these features as important cues for depth estimation in the developmental process. In this paper, we make a hypothesis that pictorial depth cues are acquired so that disparities can be predicted well and make a model that extracts features appropriate for depth estimation from static images. Random forest network is trained to extract important ones among a large amount image features so as to estimate motion and stereo disparities. The experiments with simulation and real environments show high correlation between estimated and real disparities.

DOI： 10.1109/DevLrn.2013.6652551

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Other Link： https://dblp.uni-trier.de/db/conf/icdl-epirob/icdl-epirob2013.html#OginoSA13

Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

This paper proposes a hierarchical network that enables an information processing nesting structure for tool-use that represents a relationship between a hand end-effector and a tool target when reaching for the tool, and an additional relationship between the tip of the tool end-effector and an object target after taking the tool. The network consists of associative networks whose lower layer networks associate the multimodal information under various conditions. The higher layer network associates the temporal order of the lower network states. A simulation experiment shows that the proposed network successfully generates reaching movements regardless of the conditions.

DOI： 10.1109/DevLrn.2012.6400581

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Other Link： https://dblp.uni-trier.de/db/conf/icdl-epirob/icdl-epirob2012.html#OginoHFA12

Publishing type：Research paper (scientific journal)  

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Other Link： https://dblp.uni-trier.de/db/journals/corr/corr1112.html#abs-1112-2095

Language：English   Publisher：ELSEVIER IRELAND LTD  

DOI： 10.1016/j.neures.2010.07.1430

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Other Link： https://dblp.uni-trier.de/conf/epirob/2009

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DOI： 10.1109/TAMD.2009.2021702

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Other Link： https://dblp.uni-trier.de/db/journals/tamd/tamd1.html#AsadaHKIIYOY09

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DOI： 10.1109/TAMD.2009.2031013

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

This paper models the process of Applied Behavior Analysis (ABA) therapy of autistic children for eye contact as the learning of the categorization and preference through the interaction with a caregiver. The proposed model consists of the learning module and visual attention module. The learning module learns the visual features of higher order local autocorrelation (HLAC) that are important to discriminate the visual image before and after the reward is given. The visual attention module determines the attention point by a bottom-up process based on saliency map and a top-down process based on the learned visual feature. The experiment with a virtual robot shows that the robot successfully learns visual features corresponding to the face firstly and the eyes afterwards through the interaction with a caregiver. After the learning, the robot can attend to the caregiver's face and eyes as autistic children do in the actual ABA therapy.

DOI： 10.1109/DEVLRN.2008.4640837

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

One of the most fundamental issues for physical agents (humans, primates, and robots) in performing various kinds of tasks is body representation. Especially during tool-use by monkeys, neurophysiological evidence shows that the representation can be dynamically reconstructed by spatio-temporal integration of different sensor modalities so that it can be adaptive to environmental changes [1]. However, to construct such a representation, an issue to be resolved is how to associate which information among various sensory data. This paper presents a method that constructs cross-modal body representation from vision, touch, and proprioception. Tactile sensation, when the robot touches something, triggers the construction process of the visual receptive field for body parts that can be found by visual attention based on a saliency map and consequently regarded as the end effector. Simultaneously, proprioceptive information is associated with this visual receptive field to achieve the cross-modal body representation. The proposed model is applied to a real robot and results comparable to the activities of parietal neurons observed in monkeys are shown.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：SPRINGER-VERLAG BERLIN  

The control of more than 20 degrees of freedom in real-time is one challenge of humanoid robotics. The control architecture of an autonomous humanoid robot often consists of two parts, namely a real-time part that has direct access to the motors or RC servos, and a non-real-time part, that controls the higher-level behaviors and sensory information processing such as vision and touch. As a result motion patterns are developed separately from the other parts of the robots behavior. In research, particularly when including developmental processes, it is often necessary that the design or the evolution of motion patterns is integrated in the overall development of the robot's behavior. This is indeed one of the main principles of the embodied intelligence paradigm. The main aim of this work is to define a flexible way of describing motion patterns that can be passed to the motion controller which in turn executes them in real-time. As a result, the Harmonic Motion Description Protocol (HMDP) is presented. It allows the motions to be described as vectors of coefficients of harmonic motion splines. The motion splines are expressed as human-readable ASCII strings that can be passed as a motion stream. Flexibility is achieved by implementing the principle of superposition of several motion patterns. In this way also closed loop control is achievable in principle. Moreover, the HMDP can be implemented into the (deleted for blind review) project of the 3D soccer simulation league as a standard way to communicate motion patterns between the agent and the simulation interface and/or real humanoid robots.

DOI： 10.1007/978-3-540-68847-1_16

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Other Link： https://dblp.uni-trier.de/db/conf/robocup/robocup2007.html#MayerBMOA07

Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：SPRINGER-VERLAG BERLIN  

In this paper, we propose a control system that changes the compliance based on the walking speed to stabilize biped walking on rough terrain. The proposed system changes walking modes depends on its walking speed. In the downhill terrain, when the walking speed increases, the stiffness of the ankle in the support phase is controlled so as to brake the increased speed. In the uphill terrain, when the walking speed decreases, the stiffness of the waist joint is controlled and the desired trajectory for the supported leg is shifted so as not to falls down backward. To validate the efficiency of the proposed system, the stability of walking with the proposed system is examined in the two dimensional dynamics simulation. It is shown that the robot with the proposed system can walk in the more variable rough terrain and with the broader walking speed than without changing the stiffness of the joints.

DOI： 10.1007/978-3-540-68847-1_60

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Other Link： https://dblp.uni-trier.de/db/conf/robocup/robocup2007.html#OginoTFMWA07

Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/IROS.2008.4650948

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Other Link： https://dblp.uni-trier.de/db/conf/iros/iros2008.html#HikitaFOA08

Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

In this paper, we propose a control system that changes the compliance based on the walking speed to stabilize biped walking on rough terrain. The proposed system does not use the inclination of the terrain. Instead, the system changes walking modes depends on its walking speed. In the downhill terrain, when the walking speed is increased, the stiffness of the ankle in the support phase is controlled so as to brake the increased speed. In the uphill terrain, when the walking speed is decreased, the stiffness of the waist joint is controlled and the desired trajectory for the supported leg is shifted so as not to falls down backward. To validate the efficiency of the proposed system, the stability of walking with the proposed system is examined in the two dimensional dynamics simulation. It is shown that the robot with the proposed system can walk in the more variable rough terrain and with the broader walking speed than without changing the stiffness of the joints.

DOI： 10.1109/IROS.2007.4399627

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Other Link： https://dblp.uni-trier.de/db/conf/iros/iros2007.html#OginoTA07

Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

Infants become sensitive to the regular behavior of their caregivers by the end of 4 months old. In this paper, we propose a communication system for a robot to acquire early communication. The acquisition of the communication is proceeded by the interactions of the three components; the memory module, the reward prediction module and the internal state module. The emotional change triggers the transfer of the sensor data stored in the short-term memory to the long-term memory. Once the memory segments are formed, the sensor data are compared with them. When the coincidence of the starting signal of stored data with the sensor data is detected, the prediction of the reward begins. The responses of the simulated robot with the proposed system are examined with and without the memory module when the caregiver takes the regular and irregular peekaboo communication. The results partly explain the behaviors observed in infants.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

Observation study of human infants tells us that they can successfully acquire lexicon; understanding the relationship between the meaning and the uttered word from only one teaching by caregiver, even though there are many other possible mappings. This paper proposes a lexical acquisition model which makes use of curiosity to associate visual features of observed objects with the labels that are uttered by a caregiver. A robot changes its attention and learning rate based on curiosity. In the experiment with a real humanoid robot, the visual features are represented with self organizing maps which adaptively represents the shape of observed objects independent of the viewpoints.

DOI： 10.1109/IROS.2006.282590

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Other Link： https://dblp.uni-trier.de/db/conf/iros/iros2006.html#OginoKA06

Publishing type：Research paper (international conference proceedings)   Publisher：Springer  

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Other Link： https://dblp.uni-trier.de/db/conf/amire/amire2005.html#BoedeckerMOGKA05

Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：SPRINGER  

A passive dynamic walker can walk down a shallow slope without any actuation. If the dynamics of the biped is effectively utilized to realize passive walking, the robot walks with energy-less locomotion. An antagonistic pair of pneumatic actuators is one candidate to realize such quasi-passive walking using both passive and active motions like some animals do. This paper presents a simple control of to enlarge the stability of biped walking utilizing passive dynamics. First, we introduce the design of the biped robot used for experiments with antagonistic pairs of pneumatic actuators. Then, we propose to regulate opening duration of the valves based on the observed walking cycle. Finally, experimental results are shown to demonstrate the effectiveness of the proposed control scheme.

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Publishing type：Research paper (international conference proceedings)   Publisher：Springer  

DOI： 10.1007/978-3-540-32256-6_26

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Other Link： https://dblp.uni-trier.de/db/conf/robocup/robocup2004.html#OginoKOAA04

Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/IROS.2004.1389405

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Other Link： https://dblp.uni-trier.de/db/conf/iros/iros2004.html#KikuchiOA04

Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/IROS.2004.1389585

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Other Link： https://dblp.uni-trier.de/db/conf/iros/iros2004.html#OginoTHA04

Publishing type：Research paper (scientific journal)  

DOI： 10.1163/1568553041719519

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Other Link： https://dblp.uni-trier.de/db/journals/ar/ar18.html#OginoKAAH04

Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/ICHR.2004.1442675

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Other Link： https://dblp.uni-trier.de/db/conf/humanoids/humanoids2004.html#TakumaHOA04

Publishing type：Research paper (international conference proceedings)   Publisher：Springer  

DOI： 10.1007/978-3-540-25940-4_30

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Other Link： https://dblp.uni-trier.de/db/conf/robocup/robocup2003.html#AsadaKOH03

Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：PROFESSIONAL ENGINEERING PUBLISHING LTD  

In this paper, we propose the layered controller which enables the biped robot adaptively to walk in minimal energy or passive dynamic walk, if possible. This controller consists of two layers; the lower layer stabilizes the walking, while the upper layer tries to realize the minimal energy walking. The torque is applied to the robot in short time after the the free leg leaves the ground, and so the walking is ballistic. Simulation results show that the proposed controller can realize passive dynamic walking successively from ballistic walking in the simple robot model.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：PROFESSIONAL ENGINEERING PUBLISHING LTD  

In this paper, it is demonstrated by the simulation that Passive Dynamic Walking of a biped robot with the torso can be achieved by installing springs to hip joints between a torso and each of leg. On the level ground, the robot cannot walk because of the lack of the kinetic energy. Therefore, the appropriate timing to add the active torque in the view point of the energy consumption is proposed to compensate the shortage of the energy. It is also shown that the robot can walk stably on the level ground by adding the torque at the proposed timing.

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Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/IROS.2001.973368

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Other Link： https://dblp.uni-trier.de/db/conf/iros/iros2001.html#HarunaOHA01

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Language：Japanese   Publisher：The Institute of Electronics, Information and Communication Engineers  

The goal of our research is to realize super augmented reality (Super AR) in which reality can be augmented by powerful animal sensory perception. For example, as it is well known that dogs have an extraordinary olfactory sense, such dog's sense could be used to enhance human perception by integration of the sensory perception into the real world through Super AR technology. To achieve the objective, we are developing several techniques which acquire animal perception from brain waves of the animal and supplementary overlap the acquired perception on the real world. In this paper, we focus on a dog's olfactory sense as one of animal sensory perception and report an overview of our system and its technical subjects. Moreover, we also introduce an application, called EEGMap, which can record and display brain waves associated with location information where they have been recorded.

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Language：Japanese   Publisher：The Institute of Electronics, Information and Communication Engineers  

We investigate an expressive method of anthropomorphic ownership for stuffed-toy robot. Ownership is an attributes associated with the desire and feeling of possession among users. We adjust and control our total ownership corresponding to the each user's ownership. We focus on the ownership expression of anthropomorphic presences to arrange the total ownership. In this paper, we discuss the ownership expression of the behaviors of a stuffed-toy robot based on the idea of the robot's personal space.

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Other Link： http://hdl.handle.net/10112/10326

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Human is thought to learn to extract image features as important cues for depth estimation in the developmental process. In this paper, we make a hypothesis that pictorial depth cues are acquired so that disparities can be predicted well and make a model that extracts features appropriate for depth estimation from static images. The experiments with simulation and real environments show high correlation between estimated and real disparities.

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Language：Japanese   Publisher：The Robotics Society of Japan  

Observational studies of human infants tell us that they can successfully acquire lexicon and that the relationship between the meaning and the uttered word can be understood from only one teaching session by a caregiver, even though there are many other possible mappings. This paper proposes a lexical acquisition model that makes use of curiosity to associate visual features of observed objects with the labels that are uttered by a caregiver. A robot changes its attention and learning rate based on the curiosity. In experiments with a humanoid robot, the visual features are represented using self-organizing maps that adaptively represent the shape of the observed objects independent of viewpoint.

DOI： 10.7210/jrsj.26.261

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Other Link： https://jlc.jst.go.jp/DN/JALC/00312886613?from=CiNii

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DOI： 10.20965/jrm.2007.p0315

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Language：English   Publisher：WORLD SCIENTIFIC PUBL CO PTE LTD  

This paper proposes a learning model that enables a robot to acquire a body image for parts of its body that are invisible to itself. The model associates spatial perception based on motor experience and motor image with perception based on the activations of touch sensors and tactile image, both of which are supported by visual information. The tactile image can be acquired with the help of the motor image, which is thought to be the basis for spatial perception, because all spatial perceptions originate in motor experiences. Based on the proposed model, a robot estimates invisible hand positions using the Jacobian between the displacement of the joint angles and the optical flow of the hand. When the hand touches one of the invisible tactile sensor units on the face, the robot associates this sensor unit with the estimated hand position. The simulation results show that the spatial arrangement of tactile sensors is successfully acquired by the proposed model.

DOI： 10.1142/S0219843607001096

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Language：English   Publisher：ELSEVIER  

Humanoid behavior generation is one of the most formidable issues due to its complicated structure with many degrees of freedom. This paper proposes a controller for a humanoid to cope with this issue. A given task is decomposed into a sequence of modules first, each of which consists of a set of module primitives that have control parameters to realize the appropriate primitive motions. Then, these parameters are learned by sensorimotor maps between visual information (flow) and motor commands. The controller accomplishes a given task by selecting a module, a module primitive in the selected module, and its appropriate control parameters learned in advance. A face-to-face ball pass in a RoboCup context is chosen as an example task. (To the best of our knowledge, this is the first trial.) The corresponding modules are approaching a ball, kicking a ball to the opponent, and trapping a ball coming to the player. In order to show the validity, the method is applied to two different humanoids, independently, and they succeed in realizing the face-to-face pass for more than three rounds. (C) 2006 Elsevier B.V. All rights reserved.

DOI： 10.1016/j.robot.2006.03.001

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Language：English   Publisher：ELSEVIER  

Imitation has been receiving increasing attention from the viewpoint of not simply generating new motions but also the emergence of communication. This paper proposes a system for a humanoid who obtains new motions through learning the interaction rules with a human partner based on the assumption of the mirror system. First, a humanoid learns the correspondence between its own posture and the partner's one on the ISOMAPs supposing that a human partner imitates the robot motions. Based on this correspondence, the robot can easily transfer the observed partner's gestures to its own motion. Then, this correspondence enables a robot to acquire the new motion primitive for the interaction. Furthermore, through this process, the humanoid learns an interaction rule that control gesture turn-taking. The preliminary results and future issues are given. (c) 2006 Elsevier B.V. All rights reserved.

DOI： 10.1016/j.robot.2006.01.005

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Language：Japanese   Publisher：バイオメカニズム学会  

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Language：English   Publisher：SPRINGER-VERLAG BERLIN  

Imitation learning is a powerful approach to humanoid behavior generation, however, the most existing methods assume the availability of the information on the internal state of a demonstrator such as joint angles, while humans usually cannot directly access to imitate the observed behavior. This paper presents a method of imitation learning based on visuosomatic mapping from observing the demonstrator's posture to reminding the self posture via mapping from the self motion observation to the self posture for both motion understanding and generation. First, various kinds of posture data of the observer are mapped onto posture space by self organizing mapping (hereafter, SOM), and the trajectories in the posture space are mapped onto a motion segment space by SOM again for data reduction. Second, optical flows caused by the demonstrator's motions or the self motions are mapped onto a flow segment space where parameterized flow data are connected with the corresponding motion segments in the motion segment space. The connection with the self motion is straightforward, and is easily acquired by Hebbian Learning. Then, the connection with the demonstrator's motion is automatic based on the learned connection. Finally, the visuo-somatic mapping is completed when the posture space (the observer: self) and image space (the demonstrator: other) are connected, which means observing the demonstrator's posture associcates the self posture. Experimental results with human motion data are shown and the discussion is given with future issues.

DOI： 10.1007/11552246_26

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Other Link： https://dblp.uni-trier.de/db/conf/iser/iser2004.html#AsadaOMO04

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Language：English   Publisher：IEEE  

This paper presents a method for generating vision-based humanoid behaviors by reinforcement learning with rhythmic walking parameters. The walking is stabilized by a rhythmic motion controller such as CPG or neural oscillator. The learning process consists of two stages: the first one is building an action space with two parameters (a forward step length and a turning angle) that inhibits combinations that are not. feasible. The second is reinforcement learning with the constructed action space and the state space consisting of visual features and posture parameters to find feasible actions. The method is applied to a situation of the RoboCupSoccer Humanoid league [6], that is, to approach the ball and to shoot it into the goal. Instructions by human are given to start up, the learning process and the rest is completely self-learning in real situations.

DOI： 10.1109/IROS.2003.1248883

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Other Link： https://dblp.uni-trier.de/db/conf/iros/iros2003.html#OginoKAAH03

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Language：English   Publisher：IEEE  

This paper presents a method to realize energy efficient walking of a biped robot with a layered controller. The lower layer controller is a state machine which consists of four states: (1) constant torque is applied to hip and knee joints of the swing leg. (2) no torque is applied so that the swing leg can move in a ballistic manner. (3) a PD controller is used so that the desired posture can be realized at the heel contact, which enables a biped robot to walk stably. (4) as the support leg, hip and knee joints are servo-controlled to go back and the torque to support upper leg is applied. With this lower layer controller, parameters that enable robot to walk as energy efficiently as human walking can be explored by the upper layer controller without caring to avoid falling down.

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Language：Japanese   Publisher：バイオメカニズム学会  

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Other Link： http://search.jamas.or.jp/link/ui/2003111654

Language：Japanese   Publisher：Society of Biomechanisms Japan (SOBIM)  

There have already been many studies of bipedal walking, but most of them have concentrated on building a good controller and have failed to utilize the dynamic properties of robots. Recently a new approach to bipedal walking has appeared. Using this new approach, a robot can walk down a shallow slope without any actuators or controllers. This walking mode is called Passive Dynamic Walking (PDW). Because of its simplicity in respect to both energy and control, PDW is thought of as a &ldquo;glider&rdquo; in walking (Pratt, 1999).<BR>Since the appearance of the first paper on PDW by McGeer (McGeer, 1990), many researchers have studied various aspects of it. Previous studies, however, treat only the lower part of the body, not the torso. If the purpose of PDW studies is to make effective use of the body in a humanoid robot, it is natural to treat a robot with a torso. In this paper, we show the effects of the torso on PDW walking in two-dimensional computer simulation.<BR>For the first PDW trial with a torso, we used a very simple mode consisting of three links: a torso and two legs. This is a simple extension of the simplest PDW robot. First we examined the possibility of PDW by this robot without adding any torque. The center of mass of the torso and the initial condition of walking were changed variously. We could not, however, find any suitable parameters or initial conditions for stable walking with the center of mass of the torso higher than the hip point.<BR>We therefore added torque to support the torso and tried to suppress that torque. As we wanted to maintain simplicity of PDW, a simple feedback control scheme was applied as follows:<BR>&tau;=&minus;k<SUB>v</SUB>&theta;<SUB>w</SUB>+k(&theta;<SUB>wd</SUB>&minus;&theta;<SUB>w</SUB>)<BR>Torque is applied only to the joint between the torso and the support leg. Given appropriate initial conditions, the robot can walk stably down a shallow slope. Moreover, the walking mode of this robot has the same properties as the original PDW robot suggested by McGeer. For certain parameter combinations, the PDW robot can walk with a stable limit cycle motion.<BR>To suppress the torque needed to stand the torso up, four body parameters were changed variously: changing the posture of the torso, adding soft leg tips, changing the curvature of the sole, and adding passive joint resistance. From experimental results, four qualitative points were obtained: (1) as the torso inclines backward, the torque becomes small, (2) a shock absorber is useful to reduce the torque at heel contact, (3) the shape of the sole is important in suppressing torque in the supporting phase, and (4) passive joint resistance is effective in accelerating the speed and duration of walking, but it cannot suppress the torque. Simple analysis shows that the torque at the hip joint to stand the torso up is closely related to the acceleration of the hip. Moreover, the torque at the contact phase is determined by the vertical component of acceleration of the hip, and torque in the supporting phase is determined by the horizontal component. This analysis improves understanding of the simulation results.

DOI： 10.3951/biomechanisms.16.223

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Language：English   Publisher：PROFESSIONAL ENGINEERING PUBLISHING LTD  

Passive Dynamic Walking is one of the key issues toward humanoid walking with less energy consumption. There is few past studies on PDW of a robot having the similar body as a human, that is, having both legs, arms and a torso. This is because the 3-D motions of the robot with the upper body is complicated. In this paper. a controller is proposed to reduce the body rotation around the trunk axis by swinging the arms. Consequently, the walking can be regarded as the one in the sagittal plane, which make it possible to utilize the existing studies oil 2-D PDW.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

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Language：Japanese   Publisher：一般社団法人日本生物物理学会  

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