Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 15 of 15 for “"Humanoids"”.
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Series Elasticity in Linearly Actuated Humanoids
… to major leaps in capability and have brought humanoids ever closer to being feasible solutions for real-world applications. As the capabilities of humanoids increase, they will be called on to operate in unstructured real world environments. This realization has driven researchers to develop …
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Communicative humanoids : a computational model of psychosocial dialogue skills
Thesis (Ph. D.)--Massachusetts Institute of Technology, Program in Media Arts & Sciences, 1996.
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Dynamic Locomotion and Whole-Body Control for Compliant Humanoids
… framework for compliant (torque-controlled) humanoids. We develop low-level, mid-level, and high-level controllers to enable low-impedance balancing and walking on compliant and uneven terrain. For low-level control, we present a cascaded joint impedance controller for series elastic …
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Imitating human motion using humanoid upper body models
… The humanoid models are based on five existing humanoids, namely, ARMAR, HRP-2, SURALP, WABIAN-2, and WE-4RII. These humanoids are chosen for their different structures and range of joint motion.
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Optimization-based Motion Planning for Humanoid Fall Recovery
… and reliably in real world scenarios, humanoids are expected to undertake a wide variety of tasks including taking care of the elderly, doing house cleaning and disinfecting (especially important during COVID-19), and conducting operations in dangerous situations such as search and …
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Expanding the Capabilities of Dynamic Robotic Systems
… inverter. New platforms including manipulators, humanoids and quadrupeds developed with these systems are presented and initial results with new control architectures that push the systems to the limit are shown.
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Real-time quadruped gait controller for rough terrain locomotion
… high center of mass and small support polygon of humanoids creates a difficult locomotion challenge. However, a humanoid that can transform into a quadruped for locomotion, such as MIT Biomimetic Robotics Lab's HERMES, adds the stability of a four-legged gait to safely traverse this dangerous …
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Models of Intention for Human-Robot Interaction
… platforms, including wheeled mobile robots and humanoids. As a result of our evaluations, we describe several features required for the successful operation of an intent recognition system. In particular, we demonstrate through multiple systems the importance of modeling social contextual …
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Sample-Efficient Deep Reinforcement Learning for Continuous Control
… Go, to learning parkour movements by simulated humanoids. However, the common RL approaches are known to be sample intensive, making them difficult to be applied to real-world problems such as robotics. This thesis makes several contributions toward developing RL algorithms for learning in the …
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Autonomous Mobile Robot Navigation in Dynamic Real-World Environments Without Maps With Zero-Shot Deep Reinforcement Learning
… include wheeled ground vehicles, quadrupeds and humanoids in dynamically changing GPS denied environments without a-priori maps, exclusively using onboard sensors, is an unsolved problem that has potential to transform the economy, and vastly improve humanity's capabilities with improvements to …
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Tactile Sensing System Integrated to Compliant Foot of Humanoid Robot for Contact Force Measurement
… contact force feedback in mid to full sized humanoids. The conventional systems for the GRF and ZMP measurement are made of heavy metallic parts that tend to be bulky and vulnerable to inertial noises upon high acceleration. In addition to low cost and reliable operation, the proposed system …
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Fully moral artificial agents: future or fiction
… introduction of AI agents as android robots or humanoids into society is plausible. This highlights the evolving relationship between humans and technology. This thesis explores the multidimensional aspects of artificial intelligence (AI) by examining the intersection of machine ethics, ethical …
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Development of a Locomotion and Balancing Strategy for Humanoid Robots
… for succeeding in RoboCup competition.</p> <p>Humanoids robots are required to walk fast to be practical for various life tasks. However, its complex structure makes it prone to falling during fast locomotion. On the same hand, the robots are expected to work in constantly changing environments …
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Humanoid Robot Friction Estimation in Multi-Contact Scenarios
This paper will present an online approach for friction approximation to be utilized in con- cert with whole body control on humanoid robots. This approach allows humanoid robots with ankle mounted force-torque sensors to extrapolate information about the friction constraints at the hands during …
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“The Scientist is Wrong”: Joseph Fielding Smith, George McCready Price, and the Ascent of Creationist Thought among Latter-day Saints in the Twentieth Century
… the formation of fossils of dinosaurs and humanoids to recent causes. Particularly since this shift in attitude and position runs counter to the historical trend of increasing scientific evidence and acceptance for evolution throughout the century— including among highly trained scientists …