The integration of humanoid robotics into materials science and chemistry represents a transformative evolution in experimental research,addressing persistent challenges such as reproducibility,scalability,and adaptab...The integration of humanoid robotics into materials science and chemistry represents a transformative evolution in experimental research,addressing persistent challenges such as reproducibility,scalability,and adaptability in increasingly complex workflows.Over the past decades,laboratory automation has transitioned from early mechanized systems[1-4]designed for repetitive tasks to highly specialized platforms integrating artificial intelligence(AI)[5-7]for experimental optimization.Despite these advancements,current technologies often fall short in cognitive and physical versatility,limiting their ability to manage dynamic,multidisciplinary experimental conditions.This limitation is further underscored by the significant budget cuts and closures of chemistry departments in the United Kingdom and the United States,a trend that reduces traditional research capacities while simultaneously increasing reliance on automation to sustain innovation[3,8].展开更多
Humanoid robots have garnered substantial attention recently in both academia and industry.These robots are becoming increasingly sophisticated and intelligent,as seen in health care,education,customer service,logisti...Humanoid robots have garnered substantial attention recently in both academia and industry.These robots are becoming increasingly sophisticated and intelligent,as seen in health care,education,customer service,logistics,security,space exploration,and so forth.Central to these technological advancements is tactile perception,a crucial modality through which humanoid robots exchange information with their external environment,thereby facilitating human‐like behaviors such as object recognition and dexterous manipulation.Texture perception is particularly vital for these tasks,as the surface morphology of objects significantly influences recognition and manipulation abilities.This review addresses the recent progress in tactile sensing and machine learning for texture perception in humanoid robots.We first examine the design and working principles of tactile sensors employed in texture perception,differentiating between touch‐based and sliding‐based approaches.Subsequently,we delve into the machine learning algorithms implemented for texture perception using these tactile sensors.Finally,we discuss the challenges and future opportunities in this evolving field.This review aims to provide insights into the state‐of‐the‐art developments and foster advancements in tactile sensing and machine learning for texture perception in humanoid robotics.展开更多
Since the idea of embodied artificial intelligence was born,the U.S.has been an international frontrunner in the research and development(R&D)and application of the technology,while China has been a capable chaser...Since the idea of embodied artificial intelligence was born,the U.S.has been an international frontrunner in the research and development(R&D)and application of the technology,while China has been a capable chaser in recent years,particularly in the area of humanoid robots.展开更多
In a late January 2025 program broadcast to a television audience of more than a billion viewers,16 Unitree(Hangzhou,China)H1 humanoid robots joined human performers in a synchronized Yangko dance at the Chinese Sprin...In a late January 2025 program broadcast to a television audience of more than a billion viewers,16 Unitree(Hangzhou,China)H1 humanoid robots joined human performers in a synchronized Yangko dance at the Chinese Spring Festival Gala[1].Each robot featured more than 40 degrees of freedom(DOF)in its limbs,real-time motion planning,and stable gait control using terrainagnostic algorithms.As they danced,the robots mimicked the human dancers in skillfully manipulating handkerchiefs(Fig.1).展开更多
This paper proposes the Leg Dimensional Synergistic Optimization Strategy(LDSOS)for humanoid robotic legs based on mechanism decoupling and performance assignment.The proposed method addresses the interdependent effec...This paper proposes the Leg Dimensional Synergistic Optimization Strategy(LDSOS)for humanoid robotic legs based on mechanism decoupling and performance assignment.The proposed method addresses the interdependent effects of dimensional parameters on the local and whole mechanisms in the design of hybrid humanoid robotic legs.It sequentially optimizes the dimensional parameters of the local and whole mechanism,thereby balancing the motion performance requirements of both.Additionally,it considers the assignment of efficient performance resources between the Local Functional Workspace(LFW)and the Whole Available Workspace(WAW).To facilitate the modeling and optimization process,a local/whole Equivalent Configuration Framework(ECF)is introduced.By decoupling the hybrid mechanism into a whole mechanism and multiple local mechanisms,the ECF enhances the efficiency of design,modeling,and performance evaluation.Prototype experiments are conducted to validate the effectiveness of LDSOS.This research provides an effective configuration framework for humanoid robotic leg design,establishing a theoretical and practical foundation for future optimized designs of humanoid robotic legs and pioneering novel approaches to the design of complex hybrid humanoid robotic legs.展开更多
Humanoid robots exhibit structures and movements akin to those of humans,enabling them to assist or substitute for humans in various operations without necessitating alterations to their typical environment and tools....Humanoid robots exhibit structures and movements akin to those of humans,enabling them to assist or substitute for humans in various operations without necessitating alterations to their typical environment and tools.Sustaining bal-ance amidst disturbances constitutes a fundamental capability for humanoid robots.Consequently,adopting efficacious strategies to manage instability and mitigate injuries resulting from falls assumes paramount importance in advancing the widespread adoption of humanoid robotics.This paper presents a comprehensive overview of the ongoing development of strategies for coping with falls in humanoid robots.It systematically reviews and discusses three critical facets:fall state detection,preventive actions against falls,and post-fall protection measures.The paper undertakes a thorough classifica-tion of existing coping methodologies across different stages of falls,analyzes the merits and drawbacks of each approach,and outlines the evolving trajectory of solutions for addressing fall-related challenges across distinct stages.Finally,the paper provides a succinct summary and future prospects for the current fall coping strategies tailored for humanoid robots.展开更多
Passive bionic feet,known for their human-like compliance,have garnered attention for their potential to achieve notable environmental adaptability.In this paper,a method was proposed to unifying passive bionic feet s...Passive bionic feet,known for their human-like compliance,have garnered attention for their potential to achieve notable environmental adaptability.In this paper,a method was proposed to unifying passive bionic feet static supporting stability and dynamic terrain adaptability through the utilization of the Rigid-Elastic Hybrid(REH)dynamics model.First,a bionic foot model,named the Hinge Tension Elastic Complex(HTEC)model,was developed by extracting key features from human feet.Furthermore,the kinematics and REH dynamics of the HTEC model were established.Based on the foot dynamics,a nonlinear optimization method for stiffness matching(NOSM)was designed.Finally,the HTEC-based foot was constructed and applied onto BHR-B2 humanoid robot.The foot static stability is achieved.The enhanced adaptability is observed as the robot traverses square steel,lawn,and cobblestone terrains.Through proposed design method and structure,the mobility of the humanoid robot is improved.展开更多
The problem of disturbance rejection in humanoid robots has been properly studied,with most prior work focusing on hip-ankle-stepping compliance control strategies or whole-body inverse dynamics control.This paper pre...The problem of disturbance rejection in humanoid robots has been properly studied,with most prior work focusing on hip-ankle-stepping compliance control strategies or whole-body inverse dynamics control.This paper presents an adaptive disturbance rejection balance controller based on a Variable-inertia Centroidal Model Predictive Control(ViC-MPC)approach,designed to address both minor disturbances that affect standing balance and major disturbances requiring stepping adjustments.The controller also facilitates reliable balance recovery after stepping adjustments.The humanoid robot is modeled as a spatial variable-inertia ellipsoid,representing the distribution of centroidal dynamics,with the contact wrenches optimized in real-time through a customized MPC formulation.Inspired by capturability-based constraints,we propose an adaptive dynamic stability transition strategy.This strategy is activated based on the Retrospective Horizon Average Centroidal Velocity(RHACV)and the Capture Point(CP),ensuring effective stepping adjustments and disturbance rejection.With the torque-controlled humanoid robot BHR8P,extensive simulation and experimental results demonstrate the effectiveness of the proposed method,highlighting its capability to adapt to and recover from various disturbances with improved stability.展开更多
The wrist unit is crucial in humanoid robots,determining their operational dexterity and precision.To address current challenges such as excessive size,limited Degrees of Freedom(DoFs),and insufficient load capacity,w...The wrist unit is crucial in humanoid robots,determining their operational dexterity and precision.To address current challenges such as excessive size,limited Degrees of Freedom(DoFs),and insufficient load capacity,we propose a 3-DoF humanoid wrist inspired by the human forearm and wrist anatomy.This paper explores the principles of wrist bionic design and introduces a parallel mechanism actuated by a brushless DC motor(BLDC)-ball screw to achieve flexion/extension(F/E)and radial flexion/ulnar deviation(R/U),as along with pronation/supination(P/S)through an end-coupling design.We conducted an analysis on the inverse kinematic model and singularities of the humanoid wrist.Additionally,the workspace and motion capabilities of the humanoid wrist were evaluated.A prototype based on this design was built to demonstrate its motion and functional performance,verifying the feasibility and practicality of the humanoid wrist.This research provides a more compact design approach for future humanoid wrist development.展开更多
Existing control methods for humanoid robots,such as Model Predictive Control(MPC)and Reinforcement Learning(RL),generally lack the modeling and exploitation of rhythmic mechanisms.As a result,they struggle to balance...Existing control methods for humanoid robots,such as Model Predictive Control(MPC)and Reinforcement Learning(RL),generally lack the modeling and exploitation of rhythmic mechanisms.As a result,they struggle to balance stability,energy efficiency,and gait transition capability during typical rhythmic motions like walking and running.To address this limitation,we propose Walk2Run,a unified control framework inspired by biological rhythmicity.The method introduces control priors based on the frequency modulation observed in human walk-run transitions.Specifically,we extract rhythmic parameters from motion capture data to construct a Rhythm Generator grounded in Central Pattern Generator(CPG)principles,which guides the policy to produce speed-adaptive periodic motion.This rhythmic guidance is further integrated with a constrained reinforcement learning framework using barrier function optimization,enhancing training stability and output feasibility.Experimental results demonstrate that our method outperforms traditional approaches across multiple metrics,achieving more natural rhythmic motion with improved energy efficiency in medium-to high-speed scenarios,while also enhancing gait stability and adaptability to the robotic platform.展开更多
This paper proposed a novel humanoid robot eye, which is driven by six Pneumatic Artificial Muscles （PAMs） and rotates with 3 Degree of Freedom （DOF）. The design of the mechanism and motion type of the robot eye a...This paper proposed a novel humanoid robot eye, which is driven by six Pneumatic Artificial Muscles （PAMs） and rotates with 3 Degree of Freedom （DOF）. The design of the mechanism and motion type of the robot eye are inspired by that of human eyes. The model of humanoid robot eye is established as a parallel mechanism, and the inverse-kinematic problem of this flexible tendons driving parallel system is solved by the analytical geometry method. As an extension, the simulation result for saccadic movement is presented under three conditions. The design and kinematic analysis of the prototype could be a sig- nificant step towards the goal of building an autonomous humanoid robot eye with the movement and especially the visual functions similar to that of human.展开更多
This paper provides a comprehensive review of the current status, advancements, and future prospects of humanoid robots, highlighting their significance in driving the evolution of next-generation industries. By analy...This paper provides a comprehensive review of the current status, advancements, and future prospects of humanoid robots, highlighting their significance in driving the evolution of next-generation industries. By analyzing various research endeavors and key technologies, encompassing ontology structure,control and decision-making, and perception and interaction, a holistic overview of the current state of humanoid robot research is presented. Furthermore, emerging challenges in the field are identified, emphasizing the necessity for a deeper understanding of biological motion mechanisms, improved structural design,enhanced material applications, advanced drive and control methods, and efficient energy utilization. The integration of bionics, brain-inspired intelligence, mechanics, and control is underscored as a promising direction for the development of advanced humanoid robotic systems. This paper serves as an invaluable resource, offering insightful guidance to researchers in the field,while contributing to the ongoing evolution and potential of humanoid robots across diverse domains.展开更多
Humanoid robots are a hot topic in the field of robotics research. The walking system is the critical part of the humanoid robot, and the dynamic simulation of the walking system is of great importance. In this paper,...Humanoid robots are a hot topic in the field of robotics research. The walking system is the critical part of the humanoid robot, and the dynamic simulation of the walking system is of great importance. In this paper, the stability of the walking system and the rationality of its structural design are considered in the study of dynamics for a humanoid robot. The dynamic model of humanoid robot walking system is established by using the Lagrange dynamics method. Additionally, the three-dimensional model of CATIA is imported into ADAMS. The humanoid robot walking system is added with the movement of the deputy and the driving force in the ADAMS.The torque and angular velocity of the ankle joint and hip joint are analyzed in the process of knee bends. The simulation results show that the overall performance of the humanoid robot walking system is favorable and has a smooth movement, and the specified actions can be completed, which proves the rationality of the humanoid robot walking system design.展开更多
The classification of sitting issues is investigated since detailed state classification for humanoid robots plays a key role in the practical application of humanoid robots, particularly for the humanoid robots doing...The classification of sitting issues is investigated since detailed state classification for humanoid robots plays a key role in the practical application of humanoid robots, particularly for the humanoid robots doing complicated tasks. This paper presents the concept, the characteristics tree, and the prototype of the humanoid robot SJTU-HR1. The basic states lbr humanoid robots are proposed, including lying, sitting, standing, and handstanding. Moreover, the sitting states are classified into several states from the viewpoint of topology. The Gy （generalized function） set theory is applied to achieve the kinematic characteristics of the interested end-effectors of the humanoid robot SJTU-HR1. Finally, the results indicate that a large number of the sitting states can be represented by the meaningful notations systematically. Furthermore, the one-to-one correspondence between the state and kinematic characteristics of the interested end-effectors of the SJTU-HR 1 leads to deeper insight into the capabilities of the humanoid robot SJTU-HR1.展开更多
Two artificial agents(a humanoid robot and a virtual human) are enriched with various similar intelligence,autonomy, functionalities and interaction modalities. The agents are integrated in the form of a cyber-physica...Two artificial agents(a humanoid robot and a virtual human) are enriched with various similar intelligence,autonomy, functionalities and interaction modalities. The agents are integrated in the form of a cyber-physical-social system(CPSS) through a shared communication platform to create a social ecology. In the ecology, the agents collaborate(assist each other) to perform a real-world task(search for a hidden object)for the benefits of humans. A robot-virtual human bilateral trust model is derived and a real-time trust measurement method is developed. The role of taking initiative in the collaboration is switched between the agents following a finite state machine model triggered by bilateral trust, which results in a mixedinitiative collaboration. A scheme is developed to evaluate the performance of the agents in the ecology through the CPSS.The results show that the robot and the virtual human perform satisfactorily in the collaboration through the CPSS. The results thus prove the effectiveness of the real-world ecology between artificial agents of heterogeneous realities through a shared platform based on trust-triggered mixed-initiatives. The results can help develop adaptive social ecology comprising intelligent agents of heterogeneous realities to assist humans in various tasks through collaboration between the agents in the form of a CPSS.展开更多
Dynamically adapt to uneven ground locomotion is a crucial ability for humanoid robots utilized in human environments.However,because of the effect of current pattern generation method,adapting to unknown rough ground...Dynamically adapt to uneven ground locomotion is a crucial ability for humanoid robots utilized in human environments.However,because of the effect of current pattern generation method,adapting to unknown rough ground is limited.Moreover,to maintain large support region by four-point contact during the landing phase is usually a key problem.In order to solve these problems,a landing phase control and online pattern generation in three dimensional environments is proposed.On the basis of robot-environment non-planar interactive modes,a method of landing control based on optimal support region is put forward to realize stable four-point contact by flexible foot,and a controller is employed to adapt to the changes of ground without using prior knowledge.Furthermore,an adaptable foothold planning is put forward to the online pattern generation considering walking speed,uneven terrain,and the effect of lateral movement to the locomotion stability.Finally,the effectiveness of landing control and online pattern generation is demonstrated by dynamic simulations and real robot walking experiments on outdoor uneven ground.The results indicate that the robot kept its balance even though the ground is unknown and irregular.The proposed methods lay a foundation for studies of humanoid robots performing tasks in complex environments.展开更多
A parametric method to generate low energy gait for both single and double support phases with zero moment point(ZMP)stability is presented.The ZMP stability condition is expressed as a limit to the actuating torque o...A parametric method to generate low energy gait for both single and double support phases with zero moment point(ZMP)stability is presented.The ZMP stability condition is expressed as a limit to the actuating torque of the support ankle,and the inverse dynamics of both walking phases is investigated.A parametric optimization method is implemented which approximates joint trajectories by cubic spline functions connected at uniformly distributed time knots and makes optimization parameters only involve finite discrete states describing key postures.Thus,the gait optimization is transformed into an ordinary constrained nonlinear programming problem.The effectiveness of the method is verified through numerical simulations conducted on the humanoid robot THBIP-I model.展开更多
基金supported by the Shenzhen Fundamental Research Foundation(JCYJ20230807114159010)the National Key Research Development Program Project(2022YFC2403500)the Program from Guangdong Introducing Innovative and Entrepreneurial Teams(2019ZT08L101 and RCTDPT-2020-001).
文摘The integration of humanoid robotics into materials science and chemistry represents a transformative evolution in experimental research,addressing persistent challenges such as reproducibility,scalability,and adaptability in increasingly complex workflows.Over the past decades,laboratory automation has transitioned from early mechanized systems[1-4]designed for repetitive tasks to highly specialized platforms integrating artificial intelligence(AI)[5-7]for experimental optimization.Despite these advancements,current technologies often fall short in cognitive and physical versatility,limiting their ability to manage dynamic,multidisciplinary experimental conditions.This limitation is further underscored by the significant budget cuts and closures of chemistry departments in the United Kingdom and the United States,a trend that reduces traditional research capacities while simultaneously increasing reliance on automation to sustain innovation[3,8].
基金supported by the National Natural Science Foundation of China under Grant No.12302248 and No.12272146the Fundamental Research Funds for the Central Universities under Grant No.2024BRA009the Zhejiang Provincial Natural Science Foundation of China under Grant No.LQ23F010015.
文摘Humanoid robots have garnered substantial attention recently in both academia and industry.These robots are becoming increasingly sophisticated and intelligent,as seen in health care,education,customer service,logistics,security,space exploration,and so forth.Central to these technological advancements is tactile perception,a crucial modality through which humanoid robots exchange information with their external environment,thereby facilitating human‐like behaviors such as object recognition and dexterous manipulation.Texture perception is particularly vital for these tasks,as the surface morphology of objects significantly influences recognition and manipulation abilities.This review addresses the recent progress in tactile sensing and machine learning for texture perception in humanoid robots.We first examine the design and working principles of tactile sensors employed in texture perception,differentiating between touch‐based and sliding‐based approaches.Subsequently,we delve into the machine learning algorithms implemented for texture perception using these tactile sensors.Finally,we discuss the challenges and future opportunities in this evolving field.This review aims to provide insights into the state‐of‐the‐art developments and foster advancements in tactile sensing and machine learning for texture perception in humanoid robotics.
文摘Since the idea of embodied artificial intelligence was born,the U.S.has been an international frontrunner in the research and development(R&D)and application of the technology,while China has been a capable chaser in recent years,particularly in the area of humanoid robots.
文摘In a late January 2025 program broadcast to a television audience of more than a billion viewers,16 Unitree(Hangzhou,China)H1 humanoid robots joined human performers in a synchronized Yangko dance at the Chinese Spring Festival Gala[1].Each robot featured more than 40 degrees of freedom(DOF)in its limbs,real-time motion planning,and stable gait control using terrainagnostic algorithms.As they danced,the robots mimicked the human dancers in skillfully manipulating handkerchiefs(Fig.1).
文摘This paper proposes the Leg Dimensional Synergistic Optimization Strategy(LDSOS)for humanoid robotic legs based on mechanism decoupling and performance assignment.The proposed method addresses the interdependent effects of dimensional parameters on the local and whole mechanisms in the design of hybrid humanoid robotic legs.It sequentially optimizes the dimensional parameters of the local and whole mechanism,thereby balancing the motion performance requirements of both.Additionally,it considers the assignment of efficient performance resources between the Local Functional Workspace(LFW)and the Whole Available Workspace(WAW).To facilitate the modeling and optimization process,a local/whole Equivalent Configuration Framework(ECF)is introduced.By decoupling the hybrid mechanism into a whole mechanism and multiple local mechanisms,the ECF enhances the efficiency of design,modeling,and performance evaluation.Prototype experiments are conducted to validate the effectiveness of LDSOS.This research provides an effective configuration framework for humanoid robotic leg design,establishing a theoretical and practical foundation for future optimized designs of humanoid robotic legs and pioneering novel approaches to the design of complex hybrid humanoid robotic legs.
基金supported by the key research and development project of Science and Technology Department of Jilin Province(No.20230201102GX)the Natural Science Foundation of Chongqing(No.CSTB2022NSCQ-MSX0278)the 2023 college students innovation and entrepreneurship training plan(202310183105).
文摘Humanoid robots exhibit structures and movements akin to those of humans,enabling them to assist or substitute for humans in various operations without necessitating alterations to their typical environment and tools.Sustaining bal-ance amidst disturbances constitutes a fundamental capability for humanoid robots.Consequently,adopting efficacious strategies to manage instability and mitigate injuries resulting from falls assumes paramount importance in advancing the widespread adoption of humanoid robotics.This paper presents a comprehensive overview of the ongoing development of strategies for coping with falls in humanoid robots.It systematically reviews and discusses three critical facets:fall state detection,preventive actions against falls,and post-fall protection measures.The paper undertakes a thorough classifica-tion of existing coping methodologies across different stages of falls,analyzes the merits and drawbacks of each approach,and outlines the evolving trajectory of solutions for addressing fall-related challenges across distinct stages.Finally,the paper provides a succinct summary and future prospects for the current fall coping strategies tailored for humanoid robots.
基金supported by the National Natural Science Foundation of China(Grant No.62073041)the Open Fund of Laboratory of Aerospace Servo Actuation and Transmission(Grant No.LASAT-2023A04)the Fundamental Research Funds for the Central Universities(Grant Nos.2024CX06011,2024CX06079)。
文摘Passive bionic feet,known for their human-like compliance,have garnered attention for their potential to achieve notable environmental adaptability.In this paper,a method was proposed to unifying passive bionic feet static supporting stability and dynamic terrain adaptability through the utilization of the Rigid-Elastic Hybrid(REH)dynamics model.First,a bionic foot model,named the Hinge Tension Elastic Complex(HTEC)model,was developed by extracting key features from human feet.Furthermore,the kinematics and REH dynamics of the HTEC model were established.Based on the foot dynamics,a nonlinear optimization method for stiffness matching(NOSM)was designed.Finally,the HTEC-based foot was constructed and applied onto BHR-B2 humanoid robot.The foot static stability is achieved.The enhanced adaptability is observed as the robot traverses square steel,lawn,and cobblestone terrains.Through proposed design method and structure,the mobility of the humanoid robot is improved.
基金supported in part by the National Natural Science Foundation of China under Grant 52575004the Beijing Natural Science Foundation under Grant L243004the National Natural Science Foundation of China under Grant 62403060.
文摘The problem of disturbance rejection in humanoid robots has been properly studied,with most prior work focusing on hip-ankle-stepping compliance control strategies or whole-body inverse dynamics control.This paper presents an adaptive disturbance rejection balance controller based on a Variable-inertia Centroidal Model Predictive Control(ViC-MPC)approach,designed to address both minor disturbances that affect standing balance and major disturbances requiring stepping adjustments.The controller also facilitates reliable balance recovery after stepping adjustments.The humanoid robot is modeled as a spatial variable-inertia ellipsoid,representing the distribution of centroidal dynamics,with the contact wrenches optimized in real-time through a customized MPC formulation.Inspired by capturability-based constraints,we propose an adaptive dynamic stability transition strategy.This strategy is activated based on the Retrospective Horizon Average Centroidal Velocity(RHACV)and the Capture Point(CP),ensuring effective stepping adjustments and disturbance rejection.With the torque-controlled humanoid robot BHR8P,extensive simulation and experimental results demonstrate the effectiveness of the proposed method,highlighting its capability to adapt to and recover from various disturbances with improved stability.
基金supported by the National Natural Science Foundation of China(NO.52175069 and NO.52305043).
文摘The wrist unit is crucial in humanoid robots,determining their operational dexterity and precision.To address current challenges such as excessive size,limited Degrees of Freedom(DoFs),and insufficient load capacity,we propose a 3-DoF humanoid wrist inspired by the human forearm and wrist anatomy.This paper explores the principles of wrist bionic design and introduces a parallel mechanism actuated by a brushless DC motor(BLDC)-ball screw to achieve flexion/extension(F/E)and radial flexion/ulnar deviation(R/U),as along with pronation/supination(P/S)through an end-coupling design.We conducted an analysis on the inverse kinematic model and singularities of the humanoid wrist.Additionally,the workspace and motion capabilities of the humanoid wrist were evaluated.A prototype based on this design was built to demonstrate its motion and functional performance,verifying the feasibility and practicality of the humanoid wrist.This research provides a more compact design approach for future humanoid wrist development.
基金supported in part by the National Natural Science Foundation of China(Grant Numbers:U2013602)the National Key R&D Program of China(Grant Number:2022YFB4601802)+1 种基金the Self-Planned Task of the State Key Laboratory of Robotics and System(Grant Number:2023FRFK01001)the National Independent Project of China(Grant Number:SKLR202301A12).
文摘Existing control methods for humanoid robots,such as Model Predictive Control(MPC)and Reinforcement Learning(RL),generally lack the modeling and exploitation of rhythmic mechanisms.As a result,they struggle to balance stability,energy efficiency,and gait transition capability during typical rhythmic motions like walking and running.To address this limitation,we propose Walk2Run,a unified control framework inspired by biological rhythmicity.The method introduces control priors based on the frequency modulation observed in human walk-run transitions.Specifically,we extract rhythmic parameters from motion capture data to construct a Rhythm Generator grounded in Central Pattern Generator(CPG)principles,which guides the policy to produce speed-adaptive periodic motion.This rhythmic guidance is further integrated with a constrained reinforcement learning framework using barrier function optimization,enhancing training stability and output feasibility.Experimental results demonstrate that our method outperforms traditional approaches across multiple metrics,achieving more natural rhythmic motion with improved energy efficiency in medium-to high-speed scenarios,while also enhancing gait stability and adaptability to the robotic platform.
基金the National Natural Science Foundation of China (Project no. 50875240)the Program for New Century Excellent Talents in University, Ministry of Education, P. R. China (Grant no.NCET-04-0545)
文摘This paper proposed a novel humanoid robot eye, which is driven by six Pneumatic Artificial Muscles （PAMs） and rotates with 3 Degree of Freedom （DOF）. The design of the mechanism and motion type of the robot eye are inspired by that of human eyes. The model of humanoid robot eye is established as a parallel mechanism, and the inverse-kinematic problem of this flexible tendons driving parallel system is solved by the analytical geometry method. As an extension, the simulation result for saccadic movement is presented under three conditions. The design and kinematic analysis of the prototype could be a sig- nificant step towards the goal of building an autonomous humanoid robot eye with the movement and especially the visual functions similar to that of human.
基金supported by the National Natural Science Foundation of China(62303457,U21A20482)Project funded by China Postdoctoral Science Foundation (2023M733737)the National Key R&D Program of China(2022YFB3303800)。
文摘This paper provides a comprehensive review of the current status, advancements, and future prospects of humanoid robots, highlighting their significance in driving the evolution of next-generation industries. By analyzing various research endeavors and key technologies, encompassing ontology structure,control and decision-making, and perception and interaction, a holistic overview of the current state of humanoid robot research is presented. Furthermore, emerging challenges in the field are identified, emphasizing the necessity for a deeper understanding of biological motion mechanisms, improved structural design,enhanced material applications, advanced drive and control methods, and efficient energy utilization. The integration of bionics, brain-inspired intelligence, mechanics, and control is underscored as a promising direction for the development of advanced humanoid robotic systems. This paper serves as an invaluable resource, offering insightful guidance to researchers in the field,while contributing to the ongoing evolution and potential of humanoid robots across diverse domains.
基金the Jilin Province Science and Technology Development Project(No.20150309005YY)the National Natural Science Foundation of China(No.51875047)
文摘Humanoid robots are a hot topic in the field of robotics research. The walking system is the critical part of the humanoid robot, and the dynamic simulation of the walking system is of great importance. In this paper, the stability of the walking system and the rationality of its structural design are considered in the study of dynamics for a humanoid robot. The dynamic model of humanoid robot walking system is established by using the Lagrange dynamics method. Additionally, the three-dimensional model of CATIA is imported into ADAMS. The humanoid robot walking system is added with the movement of the deputy and the driving force in the ADAMS.The torque and angular velocity of the ankle joint and hip joint are analyzed in the process of knee bends. The simulation results show that the overall performance of the humanoid robot walking system is favorable and has a smooth movement, and the specified actions can be completed, which proves the rationality of the humanoid robot walking system design.
基金Acknowledgement This work was supported by the National Basic Research Program of China （2006CB705402）, the Na- tional Natural Science Foundation of China （30770538, 50821003）, and the Joint Research Fund for Overseas Natural Science of China.
文摘The classification of sitting issues is investigated since detailed state classification for humanoid robots plays a key role in the practical application of humanoid robots, particularly for the humanoid robots doing complicated tasks. This paper presents the concept, the characteristics tree, and the prototype of the humanoid robot SJTU-HR1. The basic states lbr humanoid robots are proposed, including lying, sitting, standing, and handstanding. Moreover, the sitting states are classified into several states from the viewpoint of topology. The Gy （generalized function） set theory is applied to achieve the kinematic characteristics of the interested end-effectors of the humanoid robot SJTU-HR1. Finally, the results indicate that a large number of the sitting states can be represented by the meaningful notations systematically. Furthermore, the one-to-one correspondence between the state and kinematic characteristics of the interested end-effectors of the SJTU-HR 1 leads to deeper insight into the capabilities of the humanoid robot SJTU-HR1.
文摘Two artificial agents(a humanoid robot and a virtual human) are enriched with various similar intelligence,autonomy, functionalities and interaction modalities. The agents are integrated in the form of a cyber-physical-social system(CPSS) through a shared communication platform to create a social ecology. In the ecology, the agents collaborate(assist each other) to perform a real-world task(search for a hidden object)for the benefits of humans. A robot-virtual human bilateral trust model is derived and a real-time trust measurement method is developed. The role of taking initiative in the collaboration is switched between the agents following a finite state machine model triggered by bilateral trust, which results in a mixedinitiative collaboration. A scheme is developed to evaluate the performance of the agents in the ecology through the CPSS.The results show that the robot and the virtual human perform satisfactorily in the collaboration through the CPSS. The results thus prove the effectiveness of the real-world ecology between artificial agents of heterogeneous realities through a shared platform based on trust-triggered mixed-initiatives. The results can help develop adaptive social ecology comprising intelligent agents of heterogeneous realities to assist humans in various tasks through collaboration between the agents in the form of a CPSS.
基金supported by National Natural Science Foundation of China (Grant No. 50775008)the PhD Programs Foundation of Ministry of Education of China (Grant No. 200800061019)Hubei provincial Digital Manufacturing Key Laboratory Foundation of China (Grant No.SZ0602)
文摘Dynamically adapt to uneven ground locomotion is a crucial ability for humanoid robots utilized in human environments.However,because of the effect of current pattern generation method,adapting to unknown rough ground is limited.Moreover,to maintain large support region by four-point contact during the landing phase is usually a key problem.In order to solve these problems,a landing phase control and online pattern generation in three dimensional environments is proposed.On the basis of robot-environment non-planar interactive modes,a method of landing control based on optimal support region is put forward to realize stable four-point contact by flexible foot,and a controller is employed to adapt to the changes of ground without using prior knowledge.Furthermore,an adaptable foothold planning is put forward to the online pattern generation considering walking speed,uneven terrain,and the effect of lateral movement to the locomotion stability.Finally,the effectiveness of landing control and online pattern generation is demonstrated by dynamic simulations and real robot walking experiments on outdoor uneven ground.The results indicate that the robot kept its balance even though the ground is unknown and irregular.The proposed methods lay a foundation for studies of humanoid robots performing tasks in complex environments.
基金the National Natural Science Foundation of China(No.60674017).
文摘A parametric method to generate low energy gait for both single and double support phases with zero moment point(ZMP)stability is presented.The ZMP stability condition is expressed as a limit to the actuating torque of the support ankle,and the inverse dynamics of both walking phases is investigated.A parametric optimization method is implemented which approximates joint trajectories by cubic spline functions connected at uniformly distributed time knots and makes optimization parameters only involve finite discrete states describing key postures.Thus,the gait optimization is transformed into an ordinary constrained nonlinear programming problem.The effectiveness of the method is verified through numerical simulations conducted on the humanoid robot THBIP-I model.
