Chapter 9: Humanoid and Bipedal Robotics
43 sections
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Sections
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What we have learnt
- Humanoid robots are designed to mimic human anatomy and movement, enhancing interaction capabilities in human environments.
- Maintaining balance during bipedal motion is crucial, with methods like static and dynamic walking understanding center of mass.
- Emotion recognition in human-robot interaction can enhance the user experience, creating empathetic robot responses.
Key Concepts
- -- Degrees of Freedom (DoF)
- The number of independent movements a robot joint can make, mirroring human joint capabilities.
- -- Zero Moment Point (ZMP)
- The point at which the net moment of forces is zero, crucial for ensuring dynamic balance in bipedal locomotion.
- -- WholeBody Control (WBC)
- A control strategy that coordinates multiple joints of a robot to achieve several tasks simultaneously while maintaining balance.
- -- HumanRobot Interaction (HRI)
- The field focused on how humans interact with robots, emphasizing natural communication methods.
- -- Sensor Fusion
- Combining data from multiple sensor modalities, like cameras and microphones, to enhance the robot's perception of human emotions.
Additional Learning Materials
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