Evolutionary control of bipedal locomotion in a high degree-of-freedom humanoid robot: first steps

This article describes a methodology, together with an associated series of experiments employing this methodology, for the evolution of walking behavior in a simulated humanoid robot with up to 20 degrees of freedom. The robots evolved in this study learn to walk smoothly in an upright or near-upright position and demonstrate a variety of different locomotive behaviors, including “skating,” “limping,” and walking in a manner curiously reminiscent of a mildly or heavily intoxicated person. A previous study demonstrated the possible potential utility of this approach while evolving controllers based on simulated humanoid robots with a restricted range of movements. Although walking behaviors were developed, these were slow and relied on the robot walking in an excessively stooped position, similar to the gait of an infirm elderly person. This article extends the previous work to a robot with many degrees of freedom, up to 20 in total (arms, elbows, legs, hips, knees, etc.), and demonstrates the automatic evolution of fully upright bipedal locomotion in a humanoid robot using an accurate physics simulator. This work was presented in part at the 11th International Symposium on Artificial Life and Robotics, Oita, Japan, January 23–25, 2006     

Human-and-Humanoid Postures Under External Disturbances: Modeling,Simulation, and Robustness. Part 1: Modeling

It is a well-known fact that the growth of technology has radically changed our approach to biosciences and medicine. What is interesting is that in the last decade we have witnessed a reverse influence—a trend towards “biologically inspired” solutions to technical problems. This leads to a true symbiosis between bio and technical sciences. A good example is the intersection and overlapping of three distinct fields: sports, medicine, and robotics. This paper intends to apply sophisticated methods developed for mathematical modeling of humanoid robots in real human motions, particularly in posture stabilization and selection of appropriate postures for different situation in sports and every day life. A general simulation system is realized: following a deductive principle, the algorithm considers particular human/humanoid motions (like those occurring in different sports) as being just special cases of a general motion and impact theory. Simulation includes the interaction with the environment. Simulating a human/humanoid dynamics in a given task, all relevant characteristics could be found: trajectories, velocities and accelerations, loads of joints, power requirements, energy consumption, contact forces including ground reactions, impact effects, etc. Simulation is used in solving a problem that is important for both humans and humanoid robots, namely, the behavior of a posture (keeping stability or collapsing) when subject to different disturbances. Although “posture” is mainly a static term, maintaining its balance in the presence of disturbances is a truly dynamic problem. Typical postures from every day life and sports are considered, such as: upright standing, squat (and partial squat), and three karate postures. Two sorts of disturbances are applied to eventually, compromise the posture: external impulse and permanent external force. This paper does not aim to suggest some new control strategy but to develop the dynamic model and simulation algorithm, and apply them to compare the robustness of different postures to external disturbances.     

Analysis of autonomous cooperative assembly using coordination schemes by heterogeneous robots using a control basis approach

Robotic technology is quickly evolving allowing robots to perform more complex tasks in less structured environments with more flexibility and autonomy. Heterogeneous multi-robot teams are more common as the specialized abilities of individual robots are used in concert to achieve tasks more effectively and efficiently. An important area of research is the use of robot teams to perform modular assemblies. To this end, this paper analyzed the relative performance of two robots with different morphologies and attributes in performing an assembly task autonomously under different coordination schemes using force sensing through a control basis approach. A rigid, point-to-point manipulator and a dual-armed pneumatically actuated humanoid robot performed the assembly of parts under a traditional “push-hold” coordination scheme and a human-mimicked “push-push” scheme. The study revealed that the scheme with higher level of cooperation—the “push-push” scheme—performed assemblies faster and more reliably, lowering the likelihood of stiction phenomena, jamming, and wedging. The study also revealed that in “push-hold” schemes industrial robots are better pushers and compliant robots are better holders. The results of our study affirm the use of heterogeneous robots to perform hard-to-do assemblies and also encourage humans to function as holder’s when working in concert with a robot assistant for insertion tasks.     

Why Computers Can’t Feel Pain

The most cursory examination of the history of artificial intelligence highlights numerous egregious claims of its researchers, especially in relation to a populist form of ‘strong’ computationalism which holds that any suitably programmed computer instantiates genuine conscious mental states purely in virtue of carrying out a specific series of computations. The argument presented herein is a simple development of that originally presented in Putnam’s (Representation & Reality, Bradford Books, Cambridge in 1988) monograph, “Representation & Reality”, which if correct, has important implications for turing machine functionalism and the prospect of ‘conscious’ machines. In the paper, instead of seeking to develop Putnam’s claim that, “everything implements every finite state automata”, I will try to establish the weaker result that, “everything implements the specific machine Q on a particular input set (x)”. Then, equating Q (x) to any putative AI program, I will show that conceding the ‘strong AI’ thesis for Q (crediting it with mental states and consciousness) opens the door to a vicious form of panpsychism whereby all open systems, (e.g. grass, rocks etc.), must instantiate conscious experience and hence that disembodied minds lurk everywhere.     

On the Stability of Dynamic Diffusion Load Balancing

We consider the problem of dynamic load balancing in arbitrary (connected) networks on n nodes. Our load generation model is such that during each round, n tasks are generated on arbitrary nodes, and then (possibly after some balancing) one task is deleted from every non-empty node. Notice that this model fully saturates the resources of the network in the sense that we generate just as many new tasks per round as the network is able to delete. We show that even in this situation the system is stable, in that the total load remains bounded (as a function of n alone) over time. Our proof only requires that the underlying “communication” graph be connected. (It of course also works if we generate less than n new tasks per round, but the major contribution of this paper is the fully saturated case.) We further show that the upper bound we obtain is asymptotically tight (up to a moderate multiplicative constant) by demonstrating a corresponding lower bound on the system load for the particular example of a linear array (or path). We also show some simple negative results (i.e., instability) for work-stealing based diffusion-type algorithms in this setting. A preliminary version of this paper entitled “Dynamic diffusion load balancing” was published in Proc. 32nd International Colloquium on Automata, Languages and Programming (ICALP’05), Lecture Notes in Computer Science 3580, Springer-Verlag, pp. 1386–1398. P. Berenbrink is supported by NSERC Discovery Grant 250284-2002. R. Martin is supported by EPSRC grant “Discontinuous Behaviour in the Complexity of Randomized Algorithms.”     

Walking Control Algorithm of Biped Humanoid Robot on Uneven and Inclined Floor

This paper describes walking control algorithm for the stable walking of a biped humanoid robot on an uneven and inclined floor. Many walking control techniques have been developed based on the assumption that the walking surface is perfectly flat with no inclination. Accordingly, most biped humanoid robots have performed dynamic walking on well designed flat floors. In reality, however, a typical room floor that appears to be flat has local and global inclinations of about 2°. It is important to note that even slight unevenness of a floor can cause serious instability in biped walking robots. In this paper, the authors propose an online control algorithm that considers local and global inclinations of the floor by which a biped humanoid robot can adapt to the floor conditions. For walking motions, a suitable walking pattern was designed first. Online controllers were then developed and activated in suitable periods during a walking cycle. The walking control algorithm was successfully tested and proved through walking experiments on an uneven and inclined floor using KHR-2 (KAIST Humanoid robot-2), a test robot platform of our biped humanoid robot, HUBO.     

A closed-loop approach for tracking a humanoid robot using particle filtering and depth data

Humanoid robots introduce instabilities during biped march that complicate the process of estimating their position and orientation along time. Tracking humanoid robots may be useful not only in typical applications such as navigation, but in tasks that require benchmarking the multiple processes that involve registering measures about the performance of the humanoid during walking. Small robots represent an additional challenge due to their size and mechanic limitations which may generate unstable swinging while walking. This paper presents a strategy for the active localization of a humanoid robot in environments that are monitored by external devices. The problem is faced using a particle filter method over depth images captured by an RGB-D sensor in order to effectively track the position and orientation of the robot during its march. The tracking stage is coupled with a locomotion system controlling the stepping of the robot toward a given oriented target. We present an integral communication framework between the tracking and the locomotion control of the robot based on the robot operating system, which is capable of achieving real-time locomotion tasks using a NAO humanoid robot.     

仿人机器人双足行走模型研究

针对仿人机器人双足行走的稳定性问题,引入零力矩点理论,根据稳定行走必须满足地面反作用力位于稳定区域内这个条件,推导出仿人机器人在行走过程中单双腿支撑期的稳定区域面积和稳定裕量。建立2种不同形状的仿人机器人双足模型,在足底和地面间创建一系列接触力,并通过机械系统动力学自动分析软件得到行走过程中足底各个点的受力曲线并进行受力分析,得出合理的双足形状。     

Management: a scientific discipline for humanity

This paper proposed a new concept of management: Managing According to Reason (MR). Since “manage” means to lead, plan, organize and control, and “reason” means to understand the law of the development of objects being managed, this new concept is an integration of the two elements of “managing” and “reason”. MR studies the contradictory relationship between “managing” and “reason”, and considers how such a relationship changes and develops. MR is an integration of the disciplines of management, philosophy, natural science, engineering technology, and social science. We believe the MR is a comprehensive scientific discipline that will greatly benefit humanity. Since “management” cannot work without power, while “reason” relies on science, MR is an integration of power and science. Power is MR’s assurance, and science is MR’s basis. We believe that MR will play a major role in twenty-first century.     

Rudolph M. Schindler—Proportion,Scale and the “Row”

Jin-Ho Park interprets Schindler’s “reference frames in space” as set forth in his 1916 lecture note on mathematics, proportion, and architecture, in the context of Robinson’s1898–99 articles in the Architectural Record. Schindler’s unpublished, handwritten notes provide a source for his concern for “rhythmic” dimensioning in architecture. He uses a system in which rectangular dimensions are arranged in “rows.” Architectural examples of Schindler’s Shampay, Braxton-Shore and How Houses illustrate the principles.     

Production and multi-channel distribution of news

News production is characterised by complex and dynamic workflows as it is important to produce and distribute news as soon as possible and in an audiovisual quality as good as possible. In this paper, we present news production as it has been implemented at the Flemish Radio and Television (Vlaamse radio en televisie, VRT). Driven by the dynamic nature of news content, the VRT news department is optimized for short cycle times and characterised by a highly parallel production process, i.e. product engineering (news bulletin composition or “organise” and story-editing or “construct message”), various material procurement (“create media asset”) processes, mastering (“publish”), and the distribution processes largely run in parallel. The formal expression of news operations in terms of canonical processes has allowed us to disambiguate the overall process, and it will help us developing meaningful and reusable interfaces.     

SubSafe: a games-based training system for submarine safety and spatial awareness (Part 1)

Recent advances in hardware and software technologies for computer games have proved to be more than capable of delivering quite detailed virtual environments on PC platforms and gaming consoles for so-called “serious” applications, at a fraction of the cost than was the case 8 years ago. SubSafe is a recent example of what can be achieved in part-task naval training applications using gaming technologies, exploiting freely available, freely distributable software. SubSafe is a proof-of-concept demonstrator that presents end users with an interactive, real-time three-dimensional model of part of a Trafalgar Class submarine. This “Part 1” paper presents the background to the SubSafe project and outlines the experimental design for a pilot study being conducted between August 2008 and January 2009, in conjunction with the Royal Navy’s Submarine School in Devonport. The study is investigating knowledge transfer from the classroom to a real submarine environment (during week 7 of the students’ “Submarine Qualification Dry” course), together with general usability and interactivity assessments. Part 2 of the paper (to be completed in early 2009) will present the results of these trials and consider future extensions of the research into other submarine training domains, including periscope ranging and look-interval assessment skills, survival systems deployment training and the planning and rehearsal of submersible rescue operations.     

E-commerce success criteria: determining which criteria count most

We explore in this paper how performance of e-commerce websites in terms of various criteria influences customers’ intention to shop again in the same website. Our approach is based on an interesting use of statistical regression in the hotel literature that attempted to classify different cues in hotels as critical, satisfier, dissatisfier, etc. We use online ratings for 484 e-commerce websites for this study. Our study shows that “satisfaction with claims” is the single most important criterion valued as critical by online customers. “Comparative prices” and “Refunds/returns” are desirable criteria. “Management accessibility”, “Payment process” and “Privacy experience” are satisfiers while “on-time delivery” is a dissatisfier.     

Effects of etiquette strategy on human–robot interaction in a simulated medicine delivery task

The objective of this study was to examine the extent to which a model of linguistic etiquette in human–human interaction could be applied to human–robot interaction (HRI) domain, and how different etiquette strategies proposed through the model might influence performance of humans and robots as mediated by manipulations of robot physical features, in a simulated medicine delivery task. A “wizard of Oz” experiment was conducted in which either a humanoid robot or a mechanical-looking robot was used to present medicine reminding utterances (following different etiquette strategies) to participants, who were engaged in a primary cognitive task (a Sudoku puzzle). Results revealed the etiquette model to partially extend to the HRI domain. Participants were not sensitive to positive language from robots (e.g., appreciation of human values/wants) and such a strategy did not succeed in supporting or enhancing the “positive face” of human users. Both “bald” (no linguistic courtesy) and mixed strategies (positive and “negative face” (minimizing user imposition) saving) resulted in moderate user perceived etiquette scores (PE). However, individual differences suggested such robot linguistic strategies should be applied with caution. Opposite to this, a negative face saving strategy (supporting user freedom of choice) promoted user task and robot performance (in terms of user response time to robot requests), and resulted in the highest PE score. There was also evidence that humanoid robot features provide additional social cues that may be used by patients and support human and robot performance, but not PE. These results provide a basis for determining appropriate etiquette strategies and robot appearance to promote better collaborative task performances for future health care delivery applications of service robots.     

Landing Force Control for Humanoid Robot by Time-Domain Passivity Approach

This paper proposes a control method to absorb the landing force or the ground reaction force for a stable dynamic walking of a humanoid robot. Humanoid robot may become unstable during walking due to the impulsive contact force of the sudden landing of its foot. Therefore, a control method to decrease the landing force is required. In this paper, time-domain passivity control approach is applied for this purpose. Ground and the foot of the robot are modeled as two one-port network systems that are connected, and exchange energy with each other. The time-domain passivity controller with admittance causality is implemented, which has the landing force as input and foot's position to trim off the force as output. The proposed landing force controller can enhance the stability of the walking robot from simple computation. The small-sized humanoid robot, HanSaRam-VII that has 27 DOFs, is developed to verify the proposed scheme through dynamic walking experiments.     

Database survivability under dynamic constraints

Summary The connection between static constraints satisfied by a database and its future evolution under dynamic constraints is investigated using the notions of survivability and survivability-closure. The static constraints considered here are functional dependencies (fd’s). The dynamic constraints are restricted to commonly arising analogs of fd’s, called “dynamic” fd’s. The results provide new tools for the design of database schemes containing both static and dynamic constraints. Portions of this paper appeared in “Dynamic Constraints and Database Evolution”, Ph.D. Thesis, University of Southern California, 1983. The author was supported in part by the National Science Foundation under grant number MCS-7925004.     

Generating novel memories by integration of chaotic neural network modules

A principle of integrating neural network modules based on chaotic dynamics was studied on our two-moduled Nozawa model. Chaotic neural networks represent each embedded pattern as a low-dimensional periodic orbit, and the others are shown as high-dimensional chaotic attractors. This is equivalent to W. Freeman’s “I don’t know” and “I know” states. In particular, we noted that the combination of two-way inputs to each neural network module conflicted with embedded Hebbian correspondence. It was found that the interaction between the modules generated a novel “I know” state in addition to the embedded representation. Chaotic neural network modules can autonomously generate novel memories or functions by this interaction. The result suggests a functional integration in neural networks as it ought to be, e.g., feature binding and gestalt. This work was presented, in part, at the Fourth International Symposium on Artificial Life and Robotics, Oita, Japan, January 19–22, 1999     

Sports over a Distance

Sport is a domain full of movement-based interactions. These interactions typically have positive health effects as well as an impact on social bonding. We have investigated ways in which computer augmented devices can lead to new sport experiences and explored opportunities to combine physical activities with remote social bonding. Three prototypes have been implemented which showcase movement-based interaction in sports. “Breakout for Two” allows geographically distant users to play a physically exhausting ball game together. “FlyGuy” gives users a hang-glide experience controllable through body movement. “Push’N’Pull” uses isometric exercise equipment over a network to encourage users to complete a cooperative game whilst performing intense muscular actions. A comparison of these applications shows that such movement-based interaction in a networked environment allows players in different locations to achieve a work out and also to socialize. Based on these projects, we conclude with practical design implications for future Exertion Interfaces.     

Information technologies and intuitive expertise: a method for implementing complex organizational change among New York City Transit Authority’s Bus Maintainers

This paper describes an attempt to implement a complex information technology system with the New York City Transit Authority’s (NYCTA) Bus Maintainers intended to help better track and coordinate bus maintenance schedules. IT implementation is notorious for high failure rates among so-called “low level” workers. We believe that many IT implementation efforts make erroneous assumptions about front line worker’s expertise, which creates tension between the IT implementation effort and the “cultures of practice” among the front line workers. We designed an aggressive “learning intervention” to address this issue and called “Operational Simulation”. Rather than requiring the expected 12 months for implementation, the hourly staff reached independence with the new system in 2 weeks and line supervisors (who do more) managed in 6 weeks. Additionally, the NYCTA shifted from a reactive to a proactive maintenance approach, reduced cycle times, and increased the “mean distance between failure”, resulting in a estimated $40 million cost savings. Implications for cognition, expertise, and training are discussed.     

Stabilization of nonlinear systems on the basis of the method of the Lyapunov function with the nonlinearity and disturbance estimation

An approach to one-dimensional (SISO) nonlinear dynamic objects’ stabilization on the basis of the general stability theory is offered. A recurrent equation for the simultaneous estimation of the nonlinearity and external disturbance, which are used in “equivalent control” structures, is gained. Sufficiently faithful realization of “equivalent control” and utilization of stabilizing P-control (proportional), which allows the amplification coefficient boundless growth without loss of stability, have been allowed to gain high tracking and operating accuracy. Stabilization model problems are solved using the Matlab/Simulink software package.