Humanoid Robots, New Developments ISBN 978-3-902613-00-4 hard cover, 582 pages Edited by: Armando Carlos de Pina Filho Publisher: I-Tech Education and Publishing, Vienna, Austria Publication date: June 2007 Price: 80 Euro incl. package & postage |Download the full text of this book|

About the Book For many years, the human being has been trying, in all ways, to recreate the complex 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 knowledge 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 subjects related to humanoid robots. The presented contributions explore aspects about robotic hands, learning, language, vision and locomotion.

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Table of Contents

01Design of modules and components for humanoid robots
Albert Albers, Sven Brudniok, Jens Ottnad, Christian Sauter and Korkiat Sedchaicharn

02Gait Transition from Quadrupedal to Bipedal Locomotion of an Oscillator-driven Biped Robot
Shinya Aoi and Kazuo Tsuchiya

03Estimation of the Absolute Orientation of a Five-link Walking Robot with Passive Feet
Yannick Aoustin, Gaetan Garcia and Philippe Lemoine

04Teaching a Robotic Child - Machine Learning Strategies for a Humanoid Robot from Social Interactions
Artur Arsenio

05Biped Gait Generation and Control Based on Mechanical Energy Constraint
Fumihiko Asano, Masaki Yamakita, Norihiro Kamamichi and Zhi-Wei Luo

06Dynamic Simulation of Single and Combined Trajectory Path Generation and Control of A Seven Link Biped Robot
Ahmad Bagheri

07Analytical criterions for the generation of highly dynamic gaits for humanoid robots: dynamic propulsion criterion and dynamic propulsion potential
Bruneau Olivier and David Anthony

08Design of a Humanoid Robot Eye
Giorgio Cannata and Marco Maggiali

09Multicriteria Optimal Humanoid Robot Motion Generation
Genci Capi, Yasuo Nasu, Mitsuhiro Yamano and Kazuhisa Mitobe

10An Incremental Fuzzy Algorithm for The Balance of Humanoid Robots
Erik Cuevas, Daniel Zaldivar, Ernesto Tapia and Raul Rojas

11Spoken Language and Vision for Adaptive Human-Robot Cooperation
Peter Ford Dominey

12Collision-Free Humanoid Reaching: Past, Present, and Future
Evan Drumwright and Maja Mataric

13Minimum Energy Trajectory Planning for Biped Robots
Yasutaka Fujimoto

14Real-time Vision Based Mouth Tracking and Parameterization for a Humanoid Imitation Task
Sabri Gurbuz, Naomi Inoue and Gordon Cheng

15Clustered Regression Control of a Biped Robot Model
Olli Haavisto and Heikki Hyotyniemi

16Sticky Hands
Joshua G. Hale and Frank E. Pollick

17Central pattern generators for gait generation in bipedal robots
Almir Heralic, Krister Wolff and Mattias Wahde

18Copycat hand - Robot hand generating imitative behaviour at high speed and with high accuracy
Kiyoshi Hoshino

19Energy-Efficient Walking for Biped Robot Using Self-Excited Mechanism and Optimal Trajectory Planning
Qingjiu Huang and Kyosuke Ono

20Geminoid: Teleoperated android of an existing person
Shuichi Nishio, Hiroshi Ishiguro and Norihiro Hagita

21Obtaining Humanoid Robot Controller Using Reinforcement Learning
Masayoshi Kanoh and Hidenori Itoh

22Reinforcement Learning Algorithms In Humanoid Robotics
Dusko Katic and Miomir Vukobratovic

23A designing of humanoid robot hands in endoskeleton and exoskeleton styles
Ichiro Kawabuchi

24Assessment of the Impressions of Robot Bodily Expressions using Electroencephalogram Measurement of Brain Activity
A. Khiat, M. Toyota, Y. Matsumoto and T. Ogasawara

25Advanced Humanoid Robot Based on the Evolutionary Inductive Self-organizing Network
Dongwon Kim and Gwi-Tae Park

26Balance-Keeping Control Of Upright Standing In Byped Human Beings And Its Application For Stability Assessment
Yifa Jiang and Hidenori Kimura

27Experiments on Embodied Cognition: A Bio-Inspired Approach for Robust Biped Locomotion
Frank Kirchner, Sebastian Bartsch and Jose DeGea

28A Human Body Model for Articulated 3D Pose Tracking
Steffen Knoop, Stefan Vacek and Ruediger Dillmann

29Drum Beating and a Martial Art Bojutsu Performed by a Humanoid Robot
Atsushi Konno, Takaaki Matsumoto, Yu Ishida, Daisuke Sato and Masaru Uchiyama

30On Foveated Gaze Control and Combined Gaze and Locomotion Planning
Kolja Kuehnlenz, Georgios Lidoris, Dirk Wollherr and Martin Buss

31Vertical Jump: Biomechanical Analysis and Simulation Study
Jan Babic and Jadran Lenarcic

32Planning Versatile Motions for Humanoid in a Complex Environment
Tsai-Yen Li and Pei-Zhi Huan