Humanoid robots are envisioned as embodied intelligent agents capable of performing a wide range of human-level loco-manipulation tasks, particularly in scenarios that require strenuous and repetitive labor. However, learning these skills is challenging due to the high degrees of freedom of humanoid robots, and collecting sufficient training data for humanoid is a laborious … [Read more...] about Human–Humanoid Robots’ Cross-Embodiment Behavior-Skill Transfer Using Decomposed Adversarial Learning From Demonstration: HOTU, a Human–Humanoid Robots’ Skill Transfer Framework
Behavioral sciences
Deep Predictive Model Learning With Parametric Bias: Handling Modeling Difficulties and Temporal Model Changes
When a robot executes a task, it is necessary to model the relationship among its body, target objects, tools, and environment, and to control its body to realize the target state. However, it is difficult to model them using classical methods if the relationship is complex. In addition, when the relationship changes with time, it is necessary to deal with the temporal changes … [Read more...] about Deep Predictive Model Learning With Parametric Bias: Handling Modeling Difficulties and Temporal Model Changes
Models of Human Behavior for Human–Robot Interaction and Automated Driving: How Accurate Do the Models of Human Behavior Need to Be?
There are many examples of cases where access to improved models of human behavior and cognition has allowed the creation of robots that can better interact with humans, and not least in road vehicle automation, this is a rapidly growing area of research. Human–robot interaction (HRI) therefore provides an important applied setting for human behavior modeling—but given the vast … [Read more...] about Models of Human Behavior for Human–Robot Interaction and Automated Driving: How Accurate Do the Models of Human Behavior Need to Be?
Online Tuning of Control Parameters for Off-Road Mobile Robots
This article addresses the problem of online adaptation of control parameters, dedicated to a path tracking problem in off-road conditions. Two approaches are offered to modify the tuning gain of a previously developed adaptive and predictive control law. The first approach is a deterministic method based on dynamic equations of the system, allowing the adaptation of the … [Read more...] about Online Tuning of Control Parameters for Off-Road Mobile Robots
A Robust Visual Servoing Controller for Anthropomorphic Manipulators With Field-of-View Constraints and Swivel-Angle Motion
Human–robot collaboration has attracted significant attention in the industry due to the flexibility of humans and the accuracy of robots. Humanoid control of anthropomorphic robotic arms combined with visual servoing will enhance the intelligence of industrial robots. However, the robotic manipulator will introduce psychological discomfort to nearby humans, and the loss of … [Read more...] about A Robust Visual Servoing Controller for Anthropomorphic Manipulators With Field-of-View Constraints and Swivel-Angle Motion
