A Simulation Platform Design and Kinematics Analysis of MRL-HSL Humanoid Robot

Gholami, Amir Hossein; Moradi, Milad; Majidi, Majid

doi:10.1007/978-3-030-35699-6_30

Cited by 6 publications

(3 citation statements)

References 11 publications

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“…As it can be used to plan and execute movements, robot kinematics is important, it is split into forward and inverse kinematics. Forward kinematics corresponds to using the kinematic equations of the robot to calculate the position of the end effector from the specified parameter values [12,15,16]. On the other hand, reverse cinematics corresponds to using the kinematics equations of a robot to determine the joint parameters that provide the target position of the end effector.…”

Section: Introductionmentioning

confidence: 99%

“…On the other hand, reverse cinematics corresponds to using the kinematics equations of a robot to determine the joint parameters that provide the target position of the end effector. That is clear why kinematics is necessary in any aspect of complex movement design [12,14,16,17]. The relationship between inverse and forward kinematics is shown in Figure 1.…”

Section: Introductionmentioning

confidence: 99%

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NAO Humanoid Robot Obstacle Avoidance Using Monocular Camera

Gouda¹,

Chikha²

2020

Adv. sci. technol. eng. syst. j.

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In this paper, we present an experimental approach that allows a humanoid robot to effectively plan and execute whole body motions, like climbing obstacles and straight stairs up or down, besides jumping over obstacles using only on-board sensing. Reliable and accurate motion sequence for humanoid employed in complex indoor environments is a necessity for high-level robotics tasks. Using the robot's own kinematics will construct complex dynamic motions. A series of actions to prevent the object from being performed on the basis of the identified object from the database of the robot, obtained using the robot's own monocular camera. As shown in real world experiments beside simulation using NAO H25 humanoid, the robot can effectively perform whole body movements in cluttered, multilevel environments containing items of various shapes and dimensions.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

NAO Humanoid Robot Obstacle Avoidance Using Monocular Camera

Gouda¹,

Chikha²

2020

Adv. sci. technol. eng. syst. j.

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“…Van Dijk & Scheunemann (53) proposed a system that processes full VGA images in real time on a low-power mobile processor. Gholami et al(54) developed another multibody simulation system for a humanoid robot based on MATLAB/Simulink and Simscape software. The system can be used for purposes such as designing control systems and enhancing the stability of robots.In addition to the useful tools above, new environments have been proposed.…”

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confidence: 99%

Scientific and Technological Challenges in RoboCup

Asada

Stryk

2020

Annu. Rev. Control Robot. Auton. Syst.

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Since its inception in 1997, RoboCup has developed into a truly unique and long-standing research community advancing robotics and artificial intelligence through various challenges, benchmarks, and test fields. The main purposes of this article are to evaluate the research and development achievements so far and to identify new challenges and related new research issues. Unlike other robot competitions and research conferences, RoboCup eliminates the boundaries between pure research activities and the development of full system designs with hardware and software implementations at a site open to the public. It also creates specific scientific and technological research and development challenges to be addressed. In this article, we provide an overview of RoboCup, including its league structure and related research issues. We also review recent studies across several research categories to show how participants (called RoboCuppers) address the research and development challenges before, during, and after the annual competitions. Among the diversity of research issues, we highlight two unique aspects of the challenges: the platform design of the robots and the game evaluations. Both of these aspects contribute to solving the research and development challenges of RoboCup and verifying the results from a common perspective (i.e., a more objective view). Finally, we provide concluding remarks and discuss future research directions.

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