A small biped entertainment robot exploring attractive applications

Kuroki, Yoshio; Fujita, Masahiro; Ishida, Toru; Nagasaka, Ken; Yamaguchi, J.

doi:10.1109/robot.2003.1241639

Cited by 99 publications

(55 citation statements)

References 6 publications

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“…Because music is an important and attractive application for humanoid robots, various robots have been developed that play musical instruments [19][20][21]. Although singing humanoid robots with synthesized singing voices have also been developed, the movements of such robots [22][23][24] are not natural because of limitations of manual control. Our HRP-4C humanoid robot was used to sing a song at a public exhibition, CEATEC JAPAN 2009, with well known techniques such as key poses, semi-automatic motion generation, and a commercial singing synthesizer [24], but its singing performance was not natural enough.…”

Section: Vocawatcher: Robot Motion Generation System Imitating Facialmentioning

confidence: 99%

VocaListener and VocaWatcher: Imitating a human singer by using signal processing

Goto

Nakano

Kajita

et al. 2012

2012 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP)

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In this paper, we describe three singing information processing systems, VocaListener, VocaListener2, and VocaWatcher, that imitate singing expressions of the voice and face of a human singer. VocaListener can synthesize natural singing voices by analyzing and imitating the pitch and dynamics of the human singing. VocaListener2 imitates temporal timbre changes in addition to the pitch and dynamics. In synchronization with the synthesized singing voices, VocaWatcher can generate realistic facial motions of a humanoid robot, the HRP-4C, by analyzing and imitating facial motions of a human singing that are recorded by a single video camera. These systems that focus on "imitation" are not only promising for representing human-like naturalness, but also useful for providing intuitive control means.

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Section: Vocawatcher: Robot Motion Generation System Imitating Facialmentioning

confidence: 99%

VocaListener and VocaWatcher: Imitating a human singer by using signal processing

Goto

Nakano

Kajita

et al. 2012

2012 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP)

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“…AIBO and QRIO [6] are based on an architecture called OpenR [7]. Modules are connected by an original bus called OpenR bus which consists of 10 lines including power line for motors, power line for computer and network line.…”

Section: Onbody Networkmentioning

confidence: 99%

Distributed Control System of Humanoid Robots based on Real-time Ethernet

Kanehiro

Ishiwata²,

Saito³

et al. 2006

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-In this paper we realize a real-time communication on Ethernet and develop an onbody distributed control system for a humanoid robot, HRP-3P. Real-time communication on Ethernet is realized by (1) a communication method using the data link layer directly and (2) timing control using a real-time operating system ARTLinux. This enables us to reduce the cost of embedded systems and improve developmental efficiency. A CORBA implementation which works on this communication layer is also developed to increase compatibility with existing software. Finally a small-size distributed robot controller is developed for the onbody network of HRP-3P and a distributed I/O system is developed on top of this.

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“…Among the most successful ones is trajectory tracking methods that are based on precompiled trajectories of the legs or the Zero Moment Point (ZMP). The ZMP is the point on the ground where the total moment generated due to gravity and inertia equals zero [1].…”

Section: Introductionmentioning

confidence: 99%

A System for Learning to Locomotion Using Adaptive Oscillators in the Humanoid Robot

Saif¹

2011

IJCTE

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Abstract-This paper proposes a central pattern generators based control architecture using a frequency adaptive oscillator for learning to locomotion of humanoid robot. Central pattern generators are biological neural networks that can produce coordinated multidimensional rhythmic signals, under the control of simple input signals. They are found both in vertebrate and invertebrate animals for the control of locomotion. In this article, we present a novel system composed of adaptive nonlinear oscillators that can learn arbitrary rhythmic signals in a supervised learning framework, and apply it to control a simulated humanoid robot with up to 22 degrees of freedom. A key feature of the proposed architecture is that the learning is completely embedded in to the dynamical control, and does not require external optimization algorithms. As a test bed, we chose Robocup 3D soccer simulation environment (spark). Experimental results show that learn to walk of the robot could be successfully performed, thus allowing the biped robot to walk fast, stable and straightly.

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A small biped entertainment robot exploring attractive applications

Cited by 99 publications

References 6 publications

VocaListener and VocaWatcher: Imitating a human singer by using signal processing

VocaListener and VocaWatcher: Imitating a human singer by using signal processing

Distributed Control System of Humanoid Robots based on Real-time Ethernet

A System for Learning to Locomotion Using Adaptive Oscillators in the Humanoid Robot

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