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Humanoids

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Springer Handbook of Robotics

Part of the book series: Springer Handbooks ((SHB))

Abstract

Humanoid robots selectively immitate aspects of human form and behavior. Humanoids come in a variety of shapes and sizes, from complete human-size legged robots to isolated robotic heads with human-like sensing and expression. This chapter highlights significant humanoid platforms and achievements, and discusses some of the underlying goals behind this area of robotics. Humanoids tend to require the integration of many of the methods covered in detail within other chapters of this handbook, so this chapter focuses on distinctive aspects of humanoid robotics with liberal cross-referencing.

This chapter examines what motivates researchers to pursue humanoid robotics, and provides a taste of the evolution of this field over time. It summarizes work on legged humanoid locomotion, whole-body activities, and approaches to human–robot communication. It concludes with a brief discussion of factors that may influence the future of humanoid robots.

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Abbreviations

3-D:

three-dimensional

ACT:

anatomically correct testbed

AI:

artificial intelligence

AIST:

National Institute of Advanced Industrial Science and Technology (Japan)

AMD:

autonomous mental development

BFP:

best-first-planner

CG:

computer graphics

COG:

center of gravity

COM:

center of mass

CWS:

contact wrench sum

DARPA:

Defense Advanced Research Projects Agency

DLR:

Deutsches Zentrum für Luft- und Raumfahrt

DOF:

degree of freedom

FPGA:

field-programmable gate array

GUI:

graphical user interface

GZMP:

generalized ZMP

HRP:

humanoid robotics project

NASA:

National Aeronautics and Space Agency

OKR:

optokinetic response

QP:

quadratic programming

QRIO:

quest for curiosity

R.U.R.:

Rossum’s Universal Robots

RMC:

resolved momentum control

RRT:

rapidly exploring random tree

TV:

television

VOR:

vestibular-ocular reflex

WABIAN:

Waseda bipedal humanoid

WABOT:

Waseda robot

ZMP:

zero moment point

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Authors and Affiliations

  1. Robotics, Brain, and Cognitive Sciences Department, Italian Institute of Technology, Via Morengo 30, 16163, Genoa, Italy

    Paul Fitzpatrick

  2. Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology, Tsukuba Central 2, Umezono, 1-1-1, 305-8568, Tsukuba, Ibaraki, Japan

    Kensuke Harada

  3. Georgia Institute of Technology and Emory University, 313 Ferst Drive, GA 30332-0535, Atlanta, USA

    Charles C. Kemp

  4. Robot Innovation Research Center, National Institute of Advanced Industrial Scienceand Technology (AIST), 1-1-1 Umezono, 305-8568, Tsukuba, Japan

    Yoshio Matsumoto

  5. Intelligent Systems Research Institute, AIST Tsukuba Central 2, 1-1-1 Umezono, 305-8568, Tsukuba, Ibaraki, Japan

    Kazuhito Yokoi

  6. CNRS-AIST Joint Robotics Laboratory, UMI3218/CRT, National Institute of Advanced Industrial Science and Technology (AIST), 1-1-1 Umezono, 305-8568, Tsukuba, Ibaraki, Japan

    Eiichi Yoshida

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  1. Paul Fitzpatrick
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  2. Kensuke Harada
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  4. Yoshio Matsumoto
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  5. Kazuhito Yokoi
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  6. Eiichi Yoshida
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Correspondence to Paul Fitzpatrick .

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Editors and Affiliations

  1. Department of Electrical Engineering, University of Naples Federico II, Via Claudio 21, 80125, Naples, Italy

    Bruno Siciliano

  2. Department of Computer Sciences, Artificial Intelligence Laboratory, Stanford University, 450 Serra Mall, CA 94305, Stanford, USA

    Oussama Khatib

Video-References

Video-References

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3-D collision-free motion combining locomotion and manipulation by humanoid robot HRP-2 available from http://handbookofrobotics.org/view-chapter/67/videodetails/594

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Whole-body pivoting manipulation available from http://handbookofrobotics.org/view-chapter/67/videodetails/595

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Footstep planning modeled as a whole-body inverse kinematic problem available from http://handbookofrobotics.org/view-chapter/67/videodetails/596

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Dynamic multicontact motion available from http://handbookofrobotics.org/view-chapter/67/videodetails/597

:

3-D collision-free motion combining locomotion and manipulation by humanoid robot HRP-2 (experiment) available from http://handbookofrobotics.org/view-chapter/67/videodetails/598

:

Regrasp planning for pivoting manipulation by a humanoid robot available from http://handbookofrobotics.org/view-chapter/67/videodetails/599

:

Footstep planning modeled as a whole-body inverse kinematic problem (experiment) available from http://handbookofrobotics.org/view-chapter/67/videodetails/600

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Fitzpatrick, P., Harada, K., Kemp, C.C., Matsumoto, Y., Yokoi, K., Yoshida, E. (2016). Humanoids. In: Siciliano, B., Khatib, O. (eds) Springer Handbook of Robotics. Springer Handbooks. Springer, Cham. https://doi.org/10.1007/978-3-319-32552-1_67

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