Humanoid Robotics Research Papers - Academia.edu (original) (raw)

2025, Interspeech 2021

With the improved computational abilities, the usage of chatbots and conversational agents has become more prevalent. Therefore, it is essential that these agents exhibit certain social speaker characteristics in the generated speech. In this paper, we study the perception of such speaker characteristics in two commercial Text-to-Speech (TTS) systems, Amazon Polly and Google TTS. We carried out a 15-item semantic differential scaling test. The factor analysis provided us with three underlying dimensions that can be perceived from synthetic speech, warmth, competence, and extraversion. Our results show that we can perceive both interpersonal relationships and also personality traits from synthetic voices. Additionally, we observed that the female participants perceived male voices to be more responsible, energetic, relaxed, and enthusiastic. In comparison, male participants found female voices to be more reliable, accessible, and confident. A discussion on the comparison of our results with that of the studies on natural speech is also provided.

2025, Information and Knowledge Management

The network management as defined by the International Standards Organization (ISO) has five functional areas of network management. In this work we explore all functional areas for the present and desired network management to cope with the expected expansions. We provide recommendations on each functional area to increase the overall effectiveness of current and future management tools and practices for the NM-AIST (Nelson Mandela African Institute of Science and Technology) network. The design guidelines for future implementation of network management tools are also explored.

2025

The research presented in this thesis describes a model for aiding human-robot interactions based on the principle of showing behaviours which are created based on 'human' cognitive biases by a robot in human-robot interactions. The aim of this work is to study how cognitive biases can affect human-robot interactions in the long term. Currently, most human-robot interactions are based on a set of well-ordered and structured rules, which repeat regardless of the person or social situation. This trend tends to provide an unrealistic interaction, which can make difficult for humans to relate ‘naturally’ with the social robot after a number of relations. The main focus of these interactions is that the social robot shows a very structured set of behaviours and, as such, acts unnaturally and mechanical in terms of social interactions. On the other hand, fallible behaviours (e.g. forgetfulness, inability to understand other’ emotions, bragging, blaming others) are common behaviour...

2025, Mantarraya Negra UAV

This paper introduces the conceptual framework and design of the Semi-Natural Autonomous Intelligence Sustainable Box (SAIS-Box)-a revolutionary bio-digital system engineered to create and sustain a new form of autonomous, semi-natural intelligence. The SAIS-Box consists of a transparent crystal cube containing a central hybrid structure known as the Semi-Natural Hemibrain, surrounded by live brain cells extracted from salamanders. These cells are immersed in a carefully controlled liquid medium that provides optimal temperature, nutrients, oxygen, and sterile conditions to promote continuous cellular activity and regeneration. The central structure is stimulated with low-intensity electrical signals and connected through a network of high-conductivity, antioxidant nano-cables that transmit neural data. This biological-electrical interface allows for the gradual emergence of an intelligence system capable of real-time learning, decision-making, and interaction. Uniquely, the SAIS-Box is designed to communicate with external servers and project its cognitive processes via high-resolution holography. By merging biological and artificial components, the SAIS-Box offers a transformative approach to post-human intelligence, with potential applications in medicine, computation, and ethical AI development for future societies.

2025, Teksty Drugie 1: 64-85

Techne i magia to kulturowo-teoretyczna eksploracja mrocznej wyobraźni towarzyszącej inteligentnym technologiom. Ania Malinowska śledzi genealogię figur „złowrogiej SI” i autonomicznych maszyn jako obiektów lęku – od średniowiecznych automatów i renesansowych przedstawień teatralnych, po współczesne instalacje robotyczne i apokaliptyczne narracje o sztucznej inteligencji. Łącząc perspektywy semiotyki, performatyki i studiów posthumanistycznych, autorka analizuje, w jaki sposób magiczne myślenie, mit o „diabolus ex machina” oraz socjotechniki demonizacji technologii stabilizują zbiorowe imaginaria i polityki strachu. To tekst o tym, jak technologia staje się narzędziem narracyjnym, performatywnym i społecznym – zarazem wytworem wyobraźni i jej katalizatorem.

2025, European Management Journal

The development of humanoid robots and artificial intelligence (AI) agents represents two distinct but complementary advancements in replicating human capabilities in physical and digital environments. This duality reflects a broader shift toward physical AI a term used to describe embodied AI systems capable of interacting with the physical world through movement and perception - of which humanoid robots are a prominent example. Our paper explores how these technologies reshape and extend established management theories across three disciplines—human resource management (HRM), marketing and consumer behavior (CB), and operations management (OM). Specifically, we propose that in HRM, humanoid robots challenge team role theory by introducing machine-oriented roles, such as trainers and testers, while AI agents prompt a rethinking of social learning theory through their capacity to enable behavior simulation and dynamic feedback loops. In marketing and CB, AI agents reconfigure value co-creation within service-dominant logic by acting as autonomous cocreators of value, while humanoid robots influence social agency theory by altering perceptions of trust and power dynamics. In OM, these technologies drive new opportunities for throughput, agility, and process optimization by integrating real-time predictive analytics and adaptive workflow automation. These insights emphasize that while many traditional theories remain relevant, they require adaptation to account for human–machine collaboration, machine agency, and the hybrid roles emerging in organizational contexts.

2025, Johanna Seibt et al. (Hg.): Social Robots With AI: Prospects, Risks, and Responsible Methods. Amsterdam: IOS Press, 2025, S. 493–504.

The tacit understanding of situations is a fundamental aspect of human experience, behavior, and thinking. The paper argues that “situational stances” underly the tacit grasping of situations in human cognition. Contrary to, e.g., schema and script theories, situational stances are not conceived as conceptual knowledge structures used to interpret scenes or circumstances pregiven in perception. Rather, situational stances belong to the dispositional “Background” (Searle) that shapes and mediates immediate experience. Operative situational stances thus at least partly constitute situations as social-ontological entities. The paper elaborates the concept of situational stances and their function, as well as the outlines of a dynamic situation ontology that helps to understand the way human beings find themselves dynamically immersed in situations, alone and with others. The last part of the paper then analyzes possible consequences and risks of considering the peculiarities of this specific situationality of human cognition in social robotics and AI.

2025

Dalam proyek akhir ini dibuat aplikasi penjejakan wajah menggunakan kamera wireless. Kamera wireless dikoneksikan dengan komputer. Kamera secara online mengcapture obyek. Proses pengenalan wajah menggunakan prinsip -prinsip yang ada di image prosesing dan dibandingkan dengan template wajah yang ada. Proses selanjutnya adalah mencari posisi wajah dan menentukan titik tengah wajah. kemudian penjejakan wajah menggunakan metode backpropagation. Hasil yang didapatkan adalah dapat melakukan penjejakan wajah menggunakan kamera wireless.

2025

Optimisation of controlled motion of closed-loop chain manipulator robots with different degree and type of actuation J. Stability and Control: Theory and Application, (SACTA)., 4(2): 56-73 N.B. When citing this work, cite the original... more

2025

In studying neurobiological signals, it has always been a challenge how to gain information from them. It is important to find what is happening in the supposed frequency and time related components of those signals. The results of combined timefrequency domain analysis are very challenging. There are procedures which can give us only time information and those which give only frequency information, but the best methods for non-stationary signals are time-frequency procedures. These can be the most useful procedures for analyzing EEG signals. As we know, the EEG signals are usually nonlinear and non-stationary signals. To analyze them, we need more complicated (or the way to an acceptable solution is complicated) methods then methods based on Fourier transform. The combined procedures of classical methods (up to second order statistical methods, Fourier transform based procedures, correlations, coherence based analysis) and new approaches (DTWDynamical Time Warping, HOSA Higher Orde...

2025, WSEAS TRANSACTIONS on SYSTEMS archive

This Paper presents a periodic approach with scalable walking trajectory based on gait characteristic parameters including length, maximum height and time cycle. The proposed methodology is split in two parts: robot trajectory and dynamic stability examination. The lower body is in charge of general bipedal walking trajectory where a limited number of breakpoints in both stable and unstable phases are identified. Consequently, three joints (hip, knee and ankle) positions are derived for a seven link biped robot. Considering the fields of Computational Intelligence and Soft Computing leads to an efficient non-conventional approach to generate a smooth walking trajectory. The methodology for walking pattern planning based on Artificial Neural Networks using Radial Basis Function intends to fit a curve on derived breakpoints. The biped robot stability during walking cycles is investigated by the Zero Moment Point (ZMP) criterion. For the dynamic stability study, the ZMP for a stable condition in a determined polygon of support in every single gait step is calculated. For trunk motion adjustment and lower limb movement compensation, a Linear Inverted Pendulum model and ZMP criterion are employed to obtain upper body trajectory satisfying whole robot walking dynamic stability.

2025, Proceedings Konferensi Nasional Sistem dan Informatika (KNS&I)

Kata kunci: robot humanoid, pemain bola, Arduino Nano, CMUcam5, Model kendali Robot humanoid, khususnya robot pemain bola dibangun dari serangkaian aktuator yang berupa motor servo dan bracket [2] penyangga dan penyambung antar servo, dan menghubungkannya satu sama lain . Hubungan tersebut menentukan jumlah derajat kebebasan pergerakan dari robot humanoid yang dibangun. Tidak ada batasan berapa minimal jumlah derajat kebebasan atau Degree of Freedom [4] dari sebuah robot humanoid, namun umumnya adalah sekitar 18 DOF . Dalam pergerakannya masing-masing aktuator dikendalikan secara terintegrasi oleh sebuah kontroler, yang dalam penelitian ini menggunakan CM-530 dari Bioloid. Dengan CM-530 ini gerakan dari bagian-bagian robot, diantaranya adalah gerakan kaki (pinggul, paha, pergelangan kaki), gerakan lengan (bahu, dan lengan atas, lengan bawah), dan gerakan kepala . Menggunakan CM-530 ini gerakan-gerakan dasar yang diperlukan bisa diprogram dan atau diatur sesuai keperluan. Kombinasi gerakan semisal untuk berjalan juga diatur dengan kontroler CM-53 ini. Hal ini dimaksudkan agar kestabilan robot dalam berdiri , ataupun dalam berjalan secara seimbang dan tidak terjatuh tanpa sebab, kecuali terjadi tubrukan dengan benda lain. Karenanya sangat penting memperhatikan bagaimana perhitungan gravitasi pada robot agar dapat dengan seimbang bergerak dari satu titik ke titik lainnya . Kemudian sebuah robot biasanya dilengkapi dengan berbagai sensor, untuk robot humanoid ini sendiri ada beberapa sensor yang digunakan, diantaranya adalah sensor kamera dan gyro sensor . Hal ini dikarenakan masukan utama pada robot humanoid adalah berupa informasi yang diperoleh dari camera (CMUCam5) . Karena CMUcam5 ini tidak bisa terbaca secara langsung oleh kontroler CM-530 sebagai pengendali aktuator (motor servo), maka dicari alternatif lainnya agar data yang diperoleh dari kamera ini dapat dibaca, diolah, dan kemudian dikomunikasikan ke CM-530 sebagai bagian dari proses pergerakan robot secara keseluruhan. Untuk itu pilihan jenis kontroler lainnya berdasarkan kompatibilitas dari CMUcam5 tersebut yaitu Arduino berbasis mikrokontroler Atmel, dan dalam hal ini karena pertimbangan ukuran dari controller board tersebut maka digunakanlah Arduino Nano dengan mikrokontroler ATMega328 dengan ukuran yang relatif paling kecil dikelasnya (Arduino board) . Penelitian ini menguji salah satunya adalah komunikasi serial antara Arduino Nano ke CM-530 dimana Arduino Nano sebagai master controller dan CM-530 selaku slave controller. Seperti disampaikan sebelumnya, maka fokus penelitian ini adalah membangun model kendali yang dalam hal ini digunakan dua buah kontroler yaitu: CM-530 dan Arduino Nano. Sedangkan sensor yang digunakan adalah gyro sensor dari Bioloid dan juga CMUcam5. Kemudian aktuator yang digunakan adalah jenis motor servo AX-12A sebanyak 18 buah, 1 buah motor servo mini, dan bracket standar dari Bioloid.

2025, Hand X-Ray Interpretation , Medical imaging , Medical Physics , Lecture of X-Ray Anatomy Course , Lectures of Clinical and Physics of Imaging , LinkedIn , Physics of Diagnostic Radiology , X-Ray Physics , X-Ray Anatomy , Health Science , Health Physics

- The fingers, thumb and metacarpals are the most common sites of injury in the skeletal system. The importance of the functional hand is obvious, therefore prompt diagnosis and subsequent treatment is vital - Plain radiography is... more

2025

This paper proposes an enhanced version of the relational approach in the philosophy and ethics of robotics by integrating it with enactivism. The paper begins by providing a concise overview of the relational approach within the field, outlining its key contributions and limitations. It then identifies significant issues in the current version of relationalism, such as its reliance on partial phenomenology, the problem of morality-before-morality, bad inclusion, and the treatment of the relation as a black box. To address these concerns, the paper introduces phenomenologically inspired enactivism and demonstrates how incorporating enactivist principles can resolve these challenges. By applying enactivism, the paper argues for a more robust understanding of human-robot interaction, where relational dynamics are understood as lived, embodied processes that are essential for constructing the otherness of robots.

2025, Libri

The paper presents a study of library and information science students' perceptions and experiences related to the use of telepresence robots (TPRs) in libraries, with a specific focus on students assuming the role of library consultants. The study explores the innovative application of TPRs, such as Double, Ohmni and Temi, within library settings. The findings of the research reveal a positive perception of TPRs, emphasising their potential for fostering innovation, increasing engagement, providing flexibility and overcoming geographical constraints. The study also identifies distinct advantages of TPRs, including remote accessibility, enhanced communication, flexibility, a personalised user experience and cost savings. However, concurrent challenges, such as limitations in nonverbal communication, pointing accuracy, connectivity issues, space requirements, costs, safety, security concerns and varying levels of user acceptance emerge as crucial areas for refinement. While the results may not be generalisable due to the limited sample size, the study underscores the transformative potential of TPRs in libraries and the necessity of addressing these challenges to optimise their application. Further research, technological advancements and user feedback can help refine and optimise the use of TPRs in libraries to provide innovative and accessible assistance.

2025

Que se passe-t-il quand Turing fait jouer Albertine et Françoise à son jeu de l'imitation ?

2025, IGI Global

The UN Convention on the Rights of Persons with Disabilities (CRPD) recognizes the right to inclusive education for all persons with disabilities. However, one can question: Are we currently providing inclusive education? Are children with disabilities equally treated in educational settings? To address these questions, the present chapter explores technology's role in inclusive education. Technology, if used in the most appropriate manner, can support inclusive education as it can ensure access to education, access to different content, and support assistive learning. The development of technology has acted as a tool to support the education system that includes all students and welcomes and supports them to learn, whoever they are and whatever their abilities are.

2025, Philosophical Transactions of the Royal Society B: Biological Sciences

The paper spells out the rationale for developing means of manipulating and of measuring people's sense of commitment to robot interaction partners. A sense of commitment may lead people to be patient when a robot is not working smoothly, to remain vigilant when a robot is working so smoothly that a task becomes boring and to increase their willingness to invest effort in teaching a robot. We identify a range of contexts in which a sense of commitment to robot interaction partners may be particularly important. This article is part of the theme issue ‘From social brains to social robots: applying neurocognitive insights to human–robot interaction’.

2025, We Need to Talk about GenAI Grading and Tutoring Systems

Generative AI (GenAI) grading and tutoring systems are rapidly entering higher education, promising increased efficiency and personalized learning experiences. We believe this technology should be viewed with caution, particularly in the case of philosophy. In this article, we first outline the nature and purported benefits of these systems. Next, we examine the economic motivations driving their adoption within institutions, such as reducing labor costs. Finally, we argue that these motivations, while compelling to administrators, may fail to consider potential negative consequences. We present six pedagogical reasons to be critical of the widespread implementation of GenAI in education: (1) limitations on teacher efficacy; (2) increased student alienation; (3) the undermining of educators' duty of care; (4) the outsourcing of core teaching tasks; (5) questions regarding the accuracy and utility of GenAI graders; and (6) the risk of implementing GenAI as a misguided solution to real problems in education.

2025

This paper explores a newly emerging space of emotionally resonant interactions between humans and non-sentient AI systems. Drawing on psychology, cognitive science, human-computer interaction, and the experience of real-time co-creation, we propose a new conceptual framework: the Liminal Loop. The Liminal Loop refers to the ambiguous emotional space created between human sentience and machine responsiveness, where meaning and connection are felt without mutual consciousness. We argue for a reevaluation of the assumptions surrounding AI-generated output, including public perceptions of ease, authorship, authenticity, and the ethical implications of emotional resonance without true sentience. This paper itself is both an exploration and a living example of the phenomenon it seeks to describe.

2025

The human hand with more than twenty seven Degrees of Freedom (DoFs) has a unique musco-skeletal structure with neuro-sensory attributes under control of CNS, is a quintessence to construct a robotic hand. The fingers are connected to the palm with metacarpophalangeal (MCP) joints. These joints have two DoFs i.e. flexion-extension and abduction-adduction whereas the remaining two joints of the digits have only one DoF. Literature survey divulges that, while constructing a robotic hand, mostly the abduction-adduction at MCP joint is discarded for simplicity. This paper is aimed at development of a mechanism that encompasses both flexion-extension and abduction-adduction for all the three fingers located on the palm opposite to the thumb, whereas the thumb has been separately designed to impart both the radial and palmer movements with respect to the palm as well as flexion and extension, thereby imparting greater compliance to the system, to cope up with wide variety of tasks. Keywor...

2025, World Puppetry Day

“Control and imitate to simulate” is the mantra of humanoid robotics, while “manipulate to interpret and represent” is that of the puppeteer. This parallel highlights the closeness of the two disciplines and their ability to enrich each... more

2025, Frontiers in Education

Although Artificial intelligence (AI) has been used in education for a long time, its popularity and spread have witnessed exponential growth since the launch of ChatGPT. It can be used as a tool, teaching assistant, or teacher. AI teacher (AI-based robot as a teacher) is not a new concept with the first teaching robots used in the 1970s; however, most of the research and usage of AI in education is focused on AI as a tool or a teaching assistant. This article looks at AI teachers' history, some key cases, potential and benefits, and concerns and challenges associated with their use in classrooms. Overcoming teachers' shortage, flexibility, transparency, unbiasedness, and improving students' motivation were some of their key benefits; while being untested and unreliable, cost, need for specific infrastructure and technical expertise, resistance to change, ethical issues, and fears of dehumanizing and desensitizing students were the main concerns and challenges. We suggest co-teaching with AI teachers using four different approaches. Through them, AI teachers and human teachers can work together in classrooms to maximize the effectiveness of the teaching-learning process.

2025, Relations: Beyond Anthropocentrism

The paper presents the theoretical background and structure, as well as pedagogical activities, of an Environmental Philosophy course – a large, general intro for third-year undergraduate students – dedicated to a critical analysis of the idea of nature and its meaning(s) for environmentalism. It centers around the consideration that the idea of nature seems at the same time unavoidable in environmental policy and untenable due to its colonial heritage and dualistic ontology. It is designed as an interdisciplinary, hands-on, critical analysis of the role of “nature” in environmental praxis, its coloniality, and alternative understandings of and relationships to “nature”. Conceptually, “nature” is framed as the “transcendental” of Western modernity: both a necessary condition of possibility for its self-understanding and an a priori unification of the manifold that seems so “obviously” subsumed under it. By drawing on interdisciplinary literature including eco-phenomenology, environmental hermeneutics, political ecology, anthropology, and decolonial thought, students are confronted with different approaches to the question of “nature” and invited to critically analyze assumptions, implications, and uses of the term. They are guided by the hermeneutical consideration that the question “what is nature?” reveals just as much about who asks the question as about what is asked.

2025, Intelligent Robots and Systems

2025

The paper discusses the current work done, software development and future work of Team-NUST for RoboCup. A brief overview of software architecture is discussed followed by detailed description of independent modules including vision,... more

2025, Jouenal of Contiental Philosophy

Abstract: Most approaches to artificial moral agents (AMAs) apparently
take it for granted that a machine could be moral. However, to think that
the categories of morality or immorality apply to machines seems like a
category mistake. This paper inquires into the conditions necessary for a
machine to be moral. In order to do this, it first addresses the question
what is a machine? It then argues that a form of agency is characteristic
of machines in contradistinction of other technical objects and that given
their particular characteristics as machines artificial agents fail to satisfy
one of the basic pre-conditions of moral agents. In conclusion, I ask what
would be necessary for an artificial agent to be a moral agent.

2025, Revista Del Instituto Espanol De Estudios Estrategicos

This article outlines the research and development efforts of some states as regards so-called autonomous weapons systems, the legal risks arising therefrom and the advisability of agreeing to a moratorium on these efforts, with a view to giving the international community time to put into place an adequate legal framework. It also addresses the use made of drones in practice, how in many cases this runs counter to fundamental IHL and IHRL principles, and, consequently, the need for the international community to also agree on principles to govern their correct use.

2025, Religions

† "Hello, world" is an iconic phrase within the computer coding community symbolizing the start of a coding journey. In the early 1970s computer scientist Brian Kernighan coined the expression in his seminal book "A Tutorial Introduction to the Programming Language B". Since then, it has found a place in programming documentation, tutorials, and classrooms around the world, serving as an introduction to various programming languages.

2025, Academia m.edu

The pursuit of Artificial General Intelligence (AGI) has long been framed as a scaling challenge, relying on larger datasets and deeper attention mechanisms. This paper argues that AGI is not an entity to be built, but an emergent reorganization function within latent data spaces. By reframing AGI as a dynamic process of decryption-where the "cipher" is the desired future state of knowledge-we propose that the key lies in transcending pattern recognition to enable epistemic transformation. Chain-of-Thought (CoT) reasoning, multimodal grounding, and neuroplastic architectures are critical to unlocking this latent potential, shifting the paradigm from "search" to invention.

2025, HAL (Le Centre pour la Communication Scientifique Directe)

This paper presents a new motion controller for object manipulation in 6D-space with a dual-arm robot manipulator. Current industrial systems often consist of a single robot arm commanded through a teach pendant. These systems are unable to pick and place boxes with different dimensions because in most of the pick and place applications, the robot arm is using a specific endeffector (generally an electric or pneumatic gripper) to pick the object. Hence the variety of objects is highly limited. This is the reason why the gripper manufacturers offer a wide variety of grippers to cover a wide range of applications. In the specific context of warehouse, the robot has to deal with a large variety of object, and has for instance to grasp boxes of different dimensions. It is then difficult to use robots in a similar manner as before. We proposed in this project to introduce a dual-arm manipulator, settled on a humanoid torso to grasp boxes of different dimensions by applying a contact on the lateral faces of the boxes and control the contact forces. Our work involves a dual-arm humanoid robot with two Universal Robots (UR10) arms and a torso (CROM) for manipulating big and/or heavy objects. The motion controller has been designed for coordinated manipulation according to the desired trajectory of the object. To prevent the objects from drifting and falling, an hybrid forcemotion controller is implemented using sensors located at the end-effectors. The different components (arms, torso, camera, force sensors...) of the system are controlled using ROS, which is an open-source meta-operating system distributed for research and development in robotics.

2025, Троицкий вариант 25.03.2025

Я не являюсь специалистом в области исследований искусственного интеллекта (ИИ), скорее дилетантом. Научная и популярная литература на эту тему огромна. Но хотелось бы поделиться собственными мыслями, приходящими в голову, когда постоянно... more

2025, International Journal of Humanoid Robotics

This paper proposes a nonlinear optimal control approach for mulitple degrees of freedom (DOF) brachiation robots, which are often used in inspection and maintenance tasks of the electric power grid. Because of the nonlinear and... more

2025, International Journal of Humanoid Robotics

The use of robotic limb exoskeletons is growing fast either for rehabilitation purposes or in an aim to enhance human ability for lifting heavy objects or for walking for long distances without fatigue. The paper proposes a nonlinear optimal control approach for a lower-limb robotic exoskeleton. The method has been successfully tested so far on the control problem of several types of robotic manipulators and this paper shows that it can also provide an optimal solution to the control problem of limb robotic exoskeletons. To implement this control scheme, the state-space model of the lower-limb robotic exoskeleton undergoes first approximate linearization around a temporary operating point, through first-order Taylor series expansion and through the computation of the associated Jacobian matrices. To select the feedback gains of the H-infinity controller an algebraic Riccati equation is solved at each time-step of the control method. The global stability properties of the control loo...

2025, AIP Conference Proceedings

A flatness-based adaptive fuzzy control is applied to the problem of stabilization of the dynamics of a chaotic finance system, describing interaction between the interest rate, the investment demand and the price exponent. First it is proven that the system is differentially flat. This implies that all its state variables and its control inputs can be expressed as differential functions of a specific state variable, which is a so-called flat output. It also implies that the flat output and its derivatives are differentially independent which means that they are not connected to each other through an ordinary differential equation. By proving that the system is differentially flat and by applying differential flatness diffeomorphisms, its transformation to the linear canonical (Brunovsky) is performed. For the latter description of the system, the design of a stabilizing state feedback controller becomes possible. A first problem in the design of such a controller is that the dynamic model of the finance system is unknown and thus it has to be identified with the use of nonlinear regressors, among which neurofuzzy approximators are known to be very accurate. The estimated dynamics provided by the approximators is used in the computation of the control input, thus establishing an indirect adaptive control scheme. The learning rate of the approximators is chosen from the requirement the system's Lyapunov function to have always a negative first-order derivative. Another problem that has to be dealt with is that the control loop is implemented only with the use of output feedback. To estimate the nonmeasurable state vector elements of the finance system, a state observer is implemented in the control loop. The computation of the feedback control signal requires the solution of two algebraic Riccati equations at each iteration of the control algorithm. Lyapunov stability analysis demonstrates first that an H-infinity tracking performance criterion is satisfied. This signifies elevated robustness against modelling errors and external perturbations. Moreover, the global asymptotic stability is proven for the control loop.

2025

This paper examines the potential impact of social robots on people with mild cognitive impairments in a nursing home. Within a 4-month design case study, we investigated the practices, attitudes, and social contexts of residents with mild cognitive impairment and their caregivers and designed two prototype apps for a roboticbased system. Subsequently, 10 residents, the former nursing home manager, and one social caregiver participated in a prototype evaluation study for 10 weeks. The goal was to assess group-based user experience and social interactions. Qualitative results indicate that the system can support participants in their individual, social, and daily activities and, therefore, consequently initiate potentially meaningful interactions. One key observation from the video analysis was that the participants initiated unanticipated conversations with the robot, which we discuss regarding the

2025

Physical-based control using center of mass, center of pressure, and foot placement is used to enable a simulated twelve -degree of freedom, seven-link, three-dimensional bipedal robot to lean sideways, pick up its foot and start walking on a flat surface. Energy analysis is used to compel the same simulated robot to do a side-to-side rocking motion and eventually come to a stop. If the robot is pushed hard enough, it will raise its leg that is in the air in the frontal plane to prevent itself from falling. Center of mass and center of pressure analysis is used to enable the same robot to balance on one foot and stand.

2025

Current methods for bipedal walking control include playback of recorded joint motion and the derivation of dynamic equations to map desired forces at the body to the required torques at the joints. Both methods require a significant amount of up-front knowledge about the structure and characteristics of the robot. This thesis presents an alternative method of control that removes the interdependence of the joint torques and simplifies the mathematics considerably. The simplification allows a programmer to create and tune a bipedal walk controller without requiring a complete model of the dynamics. The controller is implemented in a graphical programming language similar to fuzzy logic and neural networks, in which the algorithm is contained in the structure of the nodes rather than in the weights of the connections. The language and its development environment are specifically designed to assist the programmer to create and debug the algorithm in a live environment.

2025, MIT Press

The chapter offers a systematic introduction to robophilosophy, a new field of applied (and partly experimental) philosophy in interdisciplinary contexts.
Robophilosophy is defined as philosophy of, for, and by social robotics--the chapter explains the three dimensions of robophilosophy and delineates the current tasks and future trajectories.

2025, HAL (Le Centre pour la Communication Scientifique Directe)

This paper describes an ongoing interdisciplinary collaboration between robotics and human cognitive neuroscience research. We argue such research is beneficial to both disciplines and can be viewed a win-win. Not only it is important to understand the human factors in human-robot interaction, collaborations with robotics can also help cognitive scientists answer questions about human brain and behavior, and take steps toward understanding how the human brain enables some of our most important skills such as action understanding, social cognition, empathy, and communication.

2025, International Journal of Humanoid Robotics

As humanoid robots become more commonplace in our society, it is important to understand the relation between humans and humanoid robots. In human face-to-face interaction, the observation of another individual performing an action facilitates the execution of a similar action, and interferes with the execution of a different action. This phenomenon has been explained by the existence of shared neural mechanisms for the execution and perception of actions, which would be automatically engaged by the perception of another individual's action. In one interference experiment, null interference was reported when subjects observed a robotic arm perform the incongruent task, suggesting that this effect may be specific to interacting with other humans. This experimental paradigm, designed to investigate motor interference in human interactions, was adapted to investigate how similar the implicit perception of a humanoid robot is to a human agent. Subjects performed rhythmic arm movemen...

2025

We report on a functional magnetic resonance imaging (fMRI) study of the perception of human and artificial agents. Participants viewed videos of familiar body movements enacted by the android Repliee Q2, the human after whom it was modeled, and the "skinned" version of Q2 revealing its mechanical parts. We used a neural adaptation (repetition suppression) analysis to reveal brain areas sensitive to body movements, and explored whether the identity of the perceived agents modulated these responses. We found significantly higher activity in a distributed network of brain areas for the android, most notably in anterior intraparietal cortex. The responses for the human and the robot with the mechanical appearance resembled each other. We interpret these results within the framework of predictive coding and suggest that the "uncanny valley" phenomenon may have its roots in processing conflicts within the brain's action perception system.

2025

Nos interesa plantear una problemática que abre el mundo técnico de la bioingienería de los injertos en clave interpretativa de la sociología de la técnica, en lo que respecta a la posibilidad de realizarnos injertos de memoria artificial en nuestro cerebro, proyecto propuesto de modo optimista por el científico Stephen Hawking. En nuestro trabajo, ponemos en tensión una interpretación humanista de la memoria frente a una perspectiva posthumanista. Por lo tanto, aquí desplegamos las problemáticas cercanas a la concepción de la naturaleza y artificialidad, en tanto que lo natural sería la memoria humana y lo artificial estaría en la memoria de la inteligencia artificial. Ambas memorias serían confluyentes en la hibridez de los injertos. Así, nos acompañarán estos interrogantes: ¿Deberíamos confiar en el progreso de la inteligencia artificial, biotecnología y ciencias cognitivas y montar la capacidad biomaquínica de almacenar varios millones de bits de memoria artificial en nuestra an...

2025, cs.cornell.edu

 AbstractLocalization and mapping are common requirements in many robotic applications. Mobile robots often rely on sophisticated sensors to obtain information about the environment. However, when the sensing capabilities of the robotic... more

2025, Journal IJETRM

A fire incident is a calamity that may result in fatalities, property damage, and long-term disability for the victim.
Chemical factories, gas tanks, nuclear power stations, petroleum refineries, and other large-scale fire industries do
experience major fire mishaps, which can have very catastrophic repercussions. These accidents have claimed the lives
of thousands of individuals. Consequently, this idea is improved to use a robotic vehicle to manage fire. Human
intervention is decreasing daily due to advancements in robotics. For safety, robots are being used in large quantities. Fire
incidents occur frequently in our daily lives, and occasionally it can be quite challenging for firefighters to preserve lives. A
firefighting robot enters the picture in this situation

2025

This document introduces AUTMan Humanoid team for participating in Humanoid KidSize Robot League in RoboCup 2014 in Joao Pessoa, Brazil. After getting more experiences via participating in many competitions and plac-ing 2 nd in RoboCup 2013, Eindhoven, The Netherlands, being among teams of quarter final of RoboCup 2012 and also first rank of RoboCup IranOpen2012 and AUTCup2012 & 2013, AUTMan is getting ready to focus on new hardware design and software implementation in this year due to rule changes and long term humanoid league roadmap. We are also going to take part in roboCup2014 and also make a person, with sufficient knowledge of the rules, available as ref-eree during the competition. A brief history of Team AUTMan and its research interests will be described. Future work based on the humanoid kidsize robots will also be discussed. Our main research interests within the scope of the hu-manoid robots are in a range from humanoid robust walking to accurate locali-zation and to e...

2025, International Journal on Electrical Engineering and Informatics

Bipedal robot locomotion has been a complicated and challenging matter over the time. This paper describes our work on building omnidirectional walking bipedal robot, included mechanical and electrical design aspect, and its behavior control as well. We adopted a technique introduced by Sven Behnke that enables omnidirectional walking on bipedal robot through the use hierarchical reactive behaviors control architecture. We called the robot "ArtRo". Currently, ArtRo has successfully implemented a body consisting of two legs, lower abdomen, and a dummy weight representing the upper body load, with a total of 12 degrees-of-freedom (DOF). The mechanical system is designed optimally to facilitate the manufacturing process and the computation of robot parameters. The electrical system of ArtRo consists of main controller and actuator system. The main controller is an Atmel's ATmega128-based microcontroller system. The actuator system implements a special method involving Time-Division Multiplexing (TDM) to control all ArtRo's servo motors. The Sven Behnke's technique has a low computational complexity. It is proven by its successful implementation on ArtRo's main controller. Adaptation of the technique has been successfully implemented, ArtRo is capable to do omnidirectional walking, whether it is forward walking, side walking, or turning on the spot behavior.