Questions tagged [humanoid]

Type of robots, which resemble a human in its shape.

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Nao robot IMU data rates

I'm trying to stream data from the Nao's inertial unit in its trunk. However the update rate is quite slow ~ 1Hz. Is there any way to improve it? For reference, I issued the following command using ...
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How does a biped humanoid robot like OttoDIY move?

How does a biped humanoid robot like OttoDIY moves? What is the sequence of foot & legs servos? Can make it move forward, by lifting one foot up and turning leg, and then repeating the same steps ...
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Human centered military robot, that takes hostages not kills

Is there research and actual efforts to build human-centered military robots that does not kill offending human persons, but takes them into hostage as prisoners of wars and transports them into ...
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In MuJoCo why do some XML files have objects fall to the ground while others are just fixed above the ground?

Why do some models, or objects in a MuJoCo XML script fall to the floor while others don't? In the models files that come with the MuJoCo zip, the robot arm (arm26) does not fall to the ground while ...
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Why do some humanoid robots use a slanted yaw joint on the hip?

In this image, we see LHipYawPitch, as well as a dedicated LHipPitch. Why would they combine the yaw and pitch in the upper joint instead of making a dedicated yaw joint? I understand that this makes ...
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1 answer
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How to balance a humanoid robot on one feet?

For a school project, I have designed and assembled a bipedal humanoid robot. The robot is roughly $54$cm tall, with the width(distance between two legs) at $20$cm. The parts that make up the robot ...
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1 vote
1 answer
165 views

Humanoid Robot Arm

I have a modeling design for Humanoid robot arm in simscape-SimMechanics in Matlab, I am trying to use the inverse kinematic to make a reaching movement for the arm to the target position; however, I ...
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1 answer
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What servos are suitable for a robot like Boston Dynamics’ Atlas?

I have seen Boston Dynamics’ robot Atlas do some pretty impressive things, like a backflip, which must put quite large torques on the servomotors. What servos are there that can generate torques like ...
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3 answers
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What knowledge should I have if I want to establish a robotics company? [closed]

I know, robotics may refer to many things and it's extremely large field today. But if I can narrow the topic to something like Aldebaran(the company makes Nao robots), what knowledge should I have as ...
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2 answers
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What software can I use to 3d model and simulate my robot?

I would like to know if there is any software that I can 3d model my robot and insert that model into some sort of simulation software where I can run AI related code(in python). Any suggestions would ...
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Beginners guide to Inverse Kinematics for biped robots? [closed]

I'm building a LynxMotion Scout biped and believe that IK are the best way to develop an effective gait. I'm a mechanical design engineer - I currently have minimal skills / experience with ...
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Use of universal humanoid robots for lean and agile manufacturing and services? [closed]

How robot industry perceives the idea about the use of universal humanoid robots for the agile, rapidly reconfigurable manufacturing and services? Are there examples of such use? E.g. are there ...
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Get the arm joint angles with kinect 1

I am Carlos Barreiro and I am studying a Robotics Master. Now I am working with my Thesis. The project consists in the teleoperation of the a robot with Kinect (model 1). More specifically, I am ...
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2 answers
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Humanoid robot arm - inverse kinematics - choose joint solutions

I have developed a 7DOF arm for a humanoid robot (see pic below for more details) I have implemented the IK using a closed form solution and of course I come up with eight solutions - each one is ...
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Geometrical solution to an IK problem for a humanoid robot leg

On the attached figure, I show a graphical representation of the problem I am facing. I have developed a humanoid robot with a thigh which makes an angle with respect to the leg. It means that there ...
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How can I calculate Center of mass for each link of Robot?

I want to calculate 'r' I know , and the Position of(X, Z) But I don't know how to apply it in this robot.
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4 answers
135 views

Why there is so much research going on in humanoid robots? [closed]

It seems like humanoid robots is the hottest field of research in robotics. Government agencies are giving huge sums of money to private firms and labs to develop them (For example, Boston Dynamics ...
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3 votes
2 answers
301 views

Motion planning with sequential convex optimization

I recently read a paper titled Finding Locally Optimal, Collision-Free Trajectories with Sequential Convex Optimization by John Schulman, Jonathan Ho, Alex Lee, Ibrahim Awwal, Henry Bradlow and Pieter ...
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1 answer
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How is whole body control different from computed torque control?

From my understanding Whole body control is built upon Computed Torque control. What is the difference between the two? What is the way for whole body control if the dynamic model is not available?
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1 vote
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Bilateral Stabilization [closed]

I'm starting out in more complex robotics, which in this case includes the bilateral stabilization of a humanoid robot. I know that when a human walks, his/her pelvis moves in correspondence, which ...
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3 votes
1 answer
137 views

Why are robots made to mimic humans actions? Isn't it better to make them better than Humans?

Robots can be better than humans. If we attach a wheel to a robot, it can move faster than a human with legs. But why then is a lot of research going on to make robots look, walk and talk like humans....
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What are the biggest challenges to build an highly performant robotic hand?

When looking at the robotic hands made by researchers that are said to be rather close to a real human hand, they can easily cost tens of thousands of dollars. What makes them so much expensive? ...
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3 votes
1 answer
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Simulating Dynamixel motors in Gazebo

I'm trying to simulate a humanoid robot using Gazebo with plugins. Since our actual model uses Dynamixel motors, I'd like to know how exactly they work to make the simulation as realistic as possible. ...
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4 votes
1 answer
2k views

Finding Center of Mass for Humanoid Robot

I've been working on Humanoid Robot, and I face the problem of finding the Center of Mass of the Robot which will help in balancing the biped. Although COM has a very simple definition, I'm unable to ...
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1 answer
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Autonomous robots hardware structure planning

I ask this question to clear my concept about hardware structure of humanoid autonomous fire robot, Here is scenario a fire robot detect humans from fire, there are some vision cameras some ...
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5 votes
2 answers
163 views

Humanoid balancing

I'm currently working on Humanoid robot. I've solved the Forward & Inverse Kinematic relations of the robot, and they turn out to be fine. Now I want to move onto Walking. I've seen tons of ...
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1 vote
1 answer
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Sizing high current power supplies for large robots

I'm a researcher in a lab that's starting work on some larger humanoid/quadruped robots as well as a quadcopter. Currently, we have several power supplies that have a max rating of 30V/30A and our ...
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18 votes
6 answers
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What is the difference between path planning and motion planning?

What are the main differences between motion planning and path planning? Imagine that the objective of the algorithm is to find a path between the humanoid soccer playing robot and the ball which ...
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1 vote
2 answers
352 views

Stewart platform as robotic wrist joint

I'm planning the design of a wrist for a humanoid robot. I would like to choose a design that is sturdy while allowing for dexterity comparable to a human wrist. One option that was presented to me ...
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Control circuit of humanoid robot: is it worth to learn and use ROS? [closed]

I am building the upper body of a humanoid robot for my M.Sc thesis project with 24 DC motors and multiple sensors (something like i-cub or Nao). I have basic knowledge of communication protocols and ...
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1 answer
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Could a robot be programmed to be human? [duplicate]

This is all hypothetical. If it was possible, it would have been done by now. I realise that this area has been touched upon in many sci-fi movies but I wondered that if it was even feasible, how ...
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6 votes
1 answer
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What are some good cheap, silent, motors for mannequin robots and what kind of controller should I use? [closed]

What are some good cheap, silent, motors for mannequin robots and what kind of controller should I use? I'm creating mannequin robots that require 24 motors: 2 neck, 4 shoulder, 2 elbow, 4 wrist, 2 ...
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3 votes
3 answers
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Atlas Robot Reference

Boston Dynamics keeps making great robots, however, I dont see any papers that they publish. Although now I can find papers on people using the ATLAS robot, I can not find an original paper detailing ...
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