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A comprehensive review on humanoid robots:perspectives from academia and industry 认领 引用
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作者 Wenjuan LI Genyuan YANG +3 位作者 Jiyi WU Chengjie PAN Lei SHENG Qifei ZHANG 《ENGINEERING Information Technology & Electronic Engineering》 SCIE EI CSCD 2026年第2期1-37,共37页
Humanoid robotics represents a rapidly evolving research domain that integrates artificial intelligence and robotics.Despite significant advances,existing reviews have predominantly focused on narrow technical aspects... Humanoid robotics represents a rapidly evolving research domain that integrates artificial intelligence and robotics.Despite significant advances,existing reviews have predominantly focused on narrow technical aspects and lack comprehensive analysis from academic and industrial perspectives.This paper presents a systematic dual-perspective survey,in which academic literature,commercial products,and industry reports are extensively analyzed.A comprehensive taxonomic framework and systematic review of key enabling technologies are established,including ontological structures,perception systems,locomotion control,intelligent decision-making algorithms,foundation model integration,and human-robot interaction(HRI)technologies.From academic and industrial perspectives,research progress across diverse applications is examined,and a detailed comparative analysis of commercial products from leading companies,including Tesla,Boston Dynamics,and UBTECH,is performed.Six major challenge categories are identified:hardware design limitations,control system complexities,perception constraints,HRI difficulties,application-specific requirements,and ethical considerations.In addition,the transformative impact and integration challenges of large language models are particularly discussed.Seven promising research directions are outlined,and a systematic academic-industrial gap analysis is conducted.Consequently,significant disparities and technology transfer bottlenecks are identified,and successful collaboration models are examined.This comprehensive survey provides the first systematic examination combining academic research insights with industrial development analysis.It thus offers valuable guidance for researchers,engineers,and policymakers working toward more capable,affordable,and socially integrated humanoid robots. 展开更多
关键词 Humanoid robots Dual-perspective analysis Industrial applications Technical challenges Future directions
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A Small Enterprise with Big Humanoid Robot Ambitions 认领 引用
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作者 WANG RUYING 《China Today》 2026年第2期54-55,共2页
The Chinese SME’s vision shows the bright side of humanoid robots:rather than replacing human workers,they are handling everyday mechanical tasks,leaving human staff to focus on improving service and emotional experi... The Chinese SME’s vision shows the bright side of humanoid robots:rather than replacing human workers,they are handling everyday mechanical tasks,leaving human staff to focus on improving service and emotional experiences.IN the Jinqiao Economic and Technological Development Zone in Pudong New Area,Shanghai,KEENON Robotics,a national-level“Little Giant”(innovative SME),is leading the transformation of the service robots industry.Amid the wave of embodied intelligence development,the humanoid service robots created by this company have become a focal point of the industry and businesses alike. 展开更多
关键词 industrial transformation service robots humanoid robots rather emotional experiences embodied intelligence humanoid robots embodied intelligence developmentthe
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AP-D:A Thickness Optimization Method of Back Protection Material for Humanoid Robot 认领 引用
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作者 Chao Sun Lianqiang Han +5 位作者 Lingxuan Zhao Taiping Wu Qingqing Li Xuechao Chen Zhangguo Yu Qiang Huang 《Journal of Bionic Engineering》 SCIE EI CSCD 2026年第1期239-256,共18页
Protective hardware is essential for mitigating damage caused by unavoidable falls in humanoid robots.Despite notable progress in fall protection hardware,the theoretical foundation for modeling and the feasibility of... Protective hardware is essential for mitigating damage caused by unavoidable falls in humanoid robots.Despite notable progress in fall protection hardware,the theoretical foundation for modeling and the feasibility of conducting full-scale fall experiments on robots or their surrogates remain somewhat limited.This paper proposes a method for optimizing the thickness of Expandable Polyethylene(EPE),which is used as back protection for the Chubao humanoid robot,based on small-scale impact test data to predict full-scale behavior.The optimal thickness is defined as a balance between compact design and protective effectiveness.An equivalent impact model characterized by four parameters:contact area S,mass m,fall height h,and cushioning material thickness d is introduced to describe impact conditions.The relationship between the peak impact acceleration ap and material thickness d,which forms the core of the method and gives rise to the name AP-D,is analyzed through their plotted curves.After introducing three characteristic parameters and two correction fac-tors,the relationship among the aforementioned variables is derived.Subsequently,both the optimal thickness do and its corresponding peak impact acceleration aop are predicted via nonlinear and linear regression models.Finally,the accuracy and effectiveness of the theoretically derived optimal thickness are validated on both a dummy and the actual robot.With the cushioning material applied,the peak chest acceleration is reduced to 41.57g for the dummy and 32.08g for the robot. 展开更多
关键词 Humanoid robot Fall protection Cushioning material Impact test Regression model
Stride and Surge From the marathon of development to the sprint to real-world impact,humanoid robots are racing ahead in speed,intelligence,and industrial applications 认领 引用
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作者 Wang Yunyue 《China Report ASEAN》 2026年第6期50-52,共3页
On April 19,the 2026 Beijing E-Town Half-Marathon and Humanoid Robot HalfMarathon(the "Yizhuang Robot Marathon") reached a historic milestone:A humanoid robot named "Flash" from Shenzhen Honor Smar... On April 19,the 2026 Beijing E-Town Half-Marathon and Humanoid Robot HalfMarathon(the "Yizhuang Robot Marathon") reached a historic milestone:A humanoid robot named "Flash" from Shenzhen Honor Smart Technology Development Co.,Ltd.claimed victory with a time of 50 minutes and 26 seconds.This stunning feat not only slashed last year's inaugural robot champion's record of 2 hours,40 minutes and 42 seconds by more than two-thirds,but also surpassed the current men's halfmarathon world record of 57 minutes and 20 seconds.In just one year,humanoid robots have undergone a remarkable evolution. 展开更多
关键词 development half marathon humanoid robot sprint record industrial applications real world impact intelligence
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A Review of Fall Coping Strategies for Humanoid Robots 认领 引用 被引量：2
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作者 Haoyan Zhang Jiaqi Wu +4 位作者 Jiarong Fan Yang An Xingze Jin Da Cui YiRu Yang 《Journal of Bionic Engineering》 SCIE EI CSCD 2025年第2期480-512,共33页
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
关键词 Humanoid robots Fall coping strategies Fall detection Fall prevention manoeuvre Post-fall protection
HTEC foot:A novel foot structure for humanoid robots combining static stability and dynamic adaptability 认领 引用
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作者 Jintao Zhang Xuechao Chen +6 位作者 Zhangguo Yu Lianqiang Han Zhifa Gao Qingrui Zhao Gao Huang Ke Li Qiang Huang 《Defence Technology（防务技术）》 SCIE EI CAS CSCD 2025年第2期30-51,共22页
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
关键词 Humanoid robot Bionic structure Passive foot structure Rigid-elastic hybrid dynamics model Optimal stiffness matching
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Adaptive Disturbance Rejection Balance Control for Humanoid Robots via Variable-Inertia Centroidal MPC 认领 引用
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作者 Xiang Meng Zhangguo Yu +5 位作者 Tao Han Xiaofeng Liu Qingqing Li Xuechao Chen Fei Meng Qiang Huang 《Journal of Bionic Engineering》 SCIE EI CSCD 2025年第6期2885-2899,共15页
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
关键词 Humanoid robots Locomotion control Model predictive control Centroidal dynamics
Dimensional Synergistic Optimization Strategy of the Hybrid Humanoid Robotic Legs 认领 引用
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作者 Qizhou Guo Zhenguo Zhao +3 位作者 Hujiang Wang Hanqing Shi Tianhong Zhai Jinzhu Zhang 《Journal of Bionic Engineering》 SCIE EI CSCD 2025年第4期1655-1682,共28页
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
关键词 Hybrid Mechanism Humanoid Robotic Leg Performance Evaluation Dimensional Synthesis Synergistic Optimization Strategy
Walk2Run:A Bio-Rhythm-Inspired Unified Control Framework for Humanoid Robot Walking and Running 认领 引用
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作者 Teng Zhang Xiangji Wang +3 位作者 Guanqun Chen Fucheng Liu Fusheng Zha Wei Guo 《Journal of Bionic Engineering》 SCIE EI CSCD 2025年第6期2849-2863,共15页
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
关键词 Humanoid robot control Rhythmic locomotion Constrained reinforcement learning Gait transition
Next-generation Robots Humanoid robots have become a new realm in the global race for embodied AI 认领 引用
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作者 Li Shimeng Wang Yan 《China Report ASEAN》 2025年第5期23-25,共3页
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
关键词 research development u s application china next generation robots embodied artificial intelligence humanoid robots
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Advancements in Humanoid Robots: A Comprehensive Review and Future Prospects 认领 引用 被引量：40
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作者 Yuchuang Tong Haotian Liu Zhengtao Zhang 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2024年第2期301-328,共28页
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
关键词 Future trends and challenges humanoid robots human-robot interaction key technologies potential applications
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Design and Kinematic Analysis of a Novel Humanoid Robot Eye Using Pneumatic Artificial Muscles 认领 引用 被引量：15
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作者 Xuan-yin Wang Yang Zhang +1 位作者 Xiao-jie Fu Gui-shan Xiang 《Journal of Bionic Engineering》 SCIE EI 2008年第3期264-270,共7页
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 inspir... 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
关键词 bionic robotics bio-inspiration humanoid robot eye air muscle inverse-kinematic
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Motion Planning of Humanoid Robot for Obstacle Negotiation 认领 引用 被引量：3
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作者 JAFRI Ali Raza 黄强 +1 位作者 杨洁 张伟民 《Journal of Beijing Institute of Technology》 EI CAS 2008年第4期439-444,共6页
The motion planning for obstacle negotiation by humanoid robot BHR-2 through stepping over or stepping on/off the wide and flat obstacle at known locations is presented. In the trajectory generation method, first the ... The motion planning for obstacle negotiation by humanoid robot BHR-2 through stepping over or stepping on/off the wide and flat obstacle at known locations is presented. In the trajectory generation method, first the constraints of the foot motion parameters which include obstacle dimensions and the distance of obstacle from the humanoid robot is formulated. By varying the values of the constraint parameters, different types of foot motion for different obstacles can be produced. In this method, first the foot trajectory is generated, and then the waist trajectory is computed by using cubic spline interpolation without first calculating the zero moment point （ZMP） trajectory . The dynamic stability during the execution of stepping over and stepping on/off trajectories are ensured by incorporating the ZMP criterion. The effectiveness of the proposed method is confirmed by simulations and experiments on humanoid robot BHR-2. 展开更多
关键词 motion planning obstacle negotiation humanoid robot step over step on/off third order splineinterpolation
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Classification of Sitting States for the Humanoid Robot SJTU-HR1 认领 引用 被引量：3
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作者 Jialun Yang Feng Gao 《Journal of Bionic Engineering》 SCIE EI CSCD 2011年第1期49-55,共7页
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
关键词 humanoid robots generalized function sets characteristics tree sitting states classification
Bionic Jumping of Humanoid Robot via Online Centroid Trajectory Optimization and High Dynamic Motion Controller 认领 引用 被引量：1
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作者 Xiangji Wang Wei Guo +3 位作者 Zhicheng He Rongchao Li Fusheng Zha Lining Sun 《Journal of Bionic Engineering》 SCIE EI CSCD 2024年第6期2759-2778,共20页
The dynamic motion capability of humanoid robots is a key indicator for evaluating their performance.Jumping,as a typical dynamic motion,is of great significance for enhancing the robot’s flexibility and terrain adap... The dynamic motion capability of humanoid robots is a key indicator for evaluating their performance.Jumping,as a typical dynamic motion,is of great significance for enhancing the robot’s flexibility and terrain adaptability in unstructured environments.However,achieving high-dynamic jumping control of humanoid robots has become a challenge due to the high degree of freedom and strongly coupled dynamic characteristics.The idea for this paper originated from the human response process to jumping commands,aiming to achieve online trajectory optimization and jumping motion control of humanoid robots.Firstly,we employ nonlinear optimization in combination with the Single Rigid Body Model(SRBM)to generate a robot’s Center of Mass(CoM)trajectory that complies with physical constraints and minimizes the angular momentum of the CoM.Then,a Model Predictive Controller(MPC)is designed to track and control the CoM trajectory,obtaining the required contact forces at the robot’s feet.Finally,a Whole-Body Controller(WBC)is used to generate full-body joint motion trajectories and driving torques,based on the prioritized sequence of tasks designed for the jumping process.The control framework proposed in this paper considers the dynamic characteristics of the robot’s jumping process,with a focus on improving the real-time performance of trajectory optimization and the robustness of controller.Simulation and experimental results demonstrate that our robot successfully executed high jump motions,long jump motions and continuous jump motions under complex working conditions. 展开更多
关键词 Humanoid robots Jumping motion control Centroid trajectory optimization Optimization and optimal control
Kinematic analysis of a humanoid robot CHP-1 and selection of motors in consideration of cooperative motion 认领 引用 被引量：1
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作者 KIM Do-un HWANG Sang-wook +1 位作者 KANG Hyo-jung HONG Dae Sun 《Journal of Central South University》 SCIE EI CAS 2012年第11期3094-3099,共6页
A lower-part humanoid robot CHP-1 with 12 degree-of-freedom of motion has been developed for cooperative motion,such as pushing or lifting an object.The capability of the robot is mainly dependent on the performance o... A lower-part humanoid robot CHP-1 with 12 degree-of-freedom of motion has been developed for cooperative motion,such as pushing or lifting an object.The capability of the robot is mainly dependent on the performance of the motors,thus the motors need to be properly selected.For the purpose,the kinematics of the robot was analyzed,and a number of simulations for two kinds of cooperative motions were carried out.The torques required at each motor of the robot under external forces were obtained.Here,the external forces were also estimated through simulation and literature survey.On the basis of the torques found,the selection of motors was finally suggested,and the motors are to be installed to the humanoid robot. 展开更多
关键词 humanoid robot motor selection cooperative motion kinematics
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Emotional Gait Generation for a Humanoid Robot 认领 引用 被引量：1
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作者 Lun Xie Zhi-Liang Wang +1 位作者 Wei Wang Guo-Chen Yu 《International Journal of Automation and computing》 2010年第1期64-69,共6页
In this paper,an emotional mathematical model and affective state probability description space of a humanoid robot are set up on the basis of psycho-dynamics'psychological energy and affective energy conservation... In this paper,an emotional mathematical model and affective state probability description space of a humanoid robot are set up on the basis of psycho-dynamics'psychological energy and affective energy conservation law.The emotional state transferring process and hidden Markov chain algorithm of stimulating transition process are then studied.The simulation results show that the mathematical model is applicable to the authentic affective state change rule of human beings.Finally,the gait generation experiment results of control signal and electric current tracking wave-form are presented to demonstrate the validity of the proposed mathematical model. 展开更多
关键词 Emotional mathematical model humanoid robot hidden Markov chain stimulating transition process gait generation.
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Humanoid Robot 3-D Motion Simulation for Hardware Realization 认领 引用
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作者 曹曦 赵群飞 马培荪 《Journal of Donghua University(English Edition)》 EI CAS 2007年第6期713-717,722,共5页
In this paper,three dimensions kinematics and kinetics simulation are discussed for hardware realization of a physical biped walking-chair robot.The direct and inverse close-form kinematics solution of the biped walki... In this paper,three dimensions kinematics and kinetics simulation are discussed for hardware realization of a physical biped walking-chair robot.The direct and inverse close-form kinematics solution of the biped walking-chair robot is deduced.Several gaits are realized with the kinematics solution,including walking straight on level floor,going up stair,squatting down and standing up.Zero Moment Point(ZMP)equation is analyzed considering the movement of the crew.The simulated biped walking-chair robot is used for mechanical design,gaits development and validation before they are tested on real robot. 展开更多
关键词 Humanoid robot walking chair robot gait design 3D simulation ZMP
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Similarity comprehensive evaluation of humanoid robot arm motion 认领 引用
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作者 Li liming Zhao Jing +1 位作者 Yan Chaojie Wang Chunrong 《High Technology Letters》 EI CAS 2019年第1期88-96,共9页
A suitable comprehensive evaluation method for similarity comprehensive evaluation of humanoid motion(mainly to robotic arm) is proposed.For different robotic arms, a static comprehensive evaluation model is establish... A suitable comprehensive evaluation method for similarity comprehensive evaluation of humanoid motion(mainly to robotic arm) is proposed.For different robotic arms, a static comprehensive evaluation model is established by projection pursuit evaluation based on indexes of humanoid robot arm motion in robotics and ergonomics field. Based on projection pursuit evaluation with timing information entropy and time degrees, a dynamic comprehensive evaluation method is proposed by linear weighting to each time's static model's indexes weight according to timing weighted vectors. Through comparing similarity comprehensive evaluation result based on static and dynamic comprehensive evaluation model, the results show that similarity based on dynamic comprehensive evaluation model is high. By comparing reliability, similarity and dispersion of static and dynamic comprehensive evaluation models, the results show that dynamic comprehensive evaluation result has better accuracy, stability and lower dispersion, and the result is more reasonable and real. Therefore, the dynamic comprehensive evaluation method proposed in this paper is more suitable for similarity comprehensive evaluation of humanoid robot arm motion. 展开更多
关键词 humanoid robot arm motion similarity comprehensive evaluation projection pursuit evaluation method dynamic comprehensive evaluation method relative efficiency
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Plane extraction for navigation of humanoid robot 认领 引用
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作者 张彤 肖南峰 《Journal of Central South University》 SCIE EI CAS 2011年第3期627-632,共6页
In order to make the humanoid robot walk freely in complicated circumstance, the reliable capabilities for obtaining plane information from its surroundings are demanded. A system for extracting planes from data taken... In order to make the humanoid robot walk freely in complicated circumstance, the reliable capabilities for obtaining plane information from its surroundings are demanded. A system for extracting planes from data taken by stereo vision was presented, After the depth image was obtained, the pixels of each line were scanned and split into straight line segments. The neighbouring relation of line segments was kept in link structure. The groups of three line segments were selected as seed regions. A queue was maintained for storing seed regions, and then the plane region was expanded around the seed region. The process of region growing continued until the queue of seed regions was empty. After trimming, the edges of the planes became smooth. In the end, extracted planes were obtained. In the experiment, two models were used： pipe and stairs. Two planes in pipe mode/and six planes in stairs model were extracted exactly. The speed and precision of algorithm can satisfy the demands of humanoid robot＇s navigation. 展开更多
关键词 humanoid robot navigation line segments splitting region growing plane extraction depth image
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