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humanoid-robots
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Controlling a Walking Humanoid Robot Using Intelligent Control
, M.Sc. Thesis Sharif University of Technology ; Sadati, Hossein (Supervisor)
Abstract
Humanoid robots are robots that are similar in appearance and performance to humans. Designing and controlling a humanoid robot to perform such supposedly ordinary tasks as walking, running, writing, talking, driving, riding bikes, and the like is such a difficult task from the control point of view that it seems to be quite ambitious and inaccessible. In this thesis, the previous efforts of scientists and researchers are presented using different intelligent controllers. Additionally, the dynamic analysis of selective biped (seven-link biped robot) is illustrated. In this research, we present a method to control the walking of the biped robot while retaining stability. In this method the...
Concept Learning to Classify Objects Through Visual Observation
, M.Sc. Thesis Sharif University of Technology ; Khayyat, Ali Akbar (Supervisor) ; Bagheri Shouraki, Saeed (Co-Advisor)
Abstract
Trying both to understand the brain and to emulate some of its strengths has been one of the greatest human desires since ancient times. One of these amazing abilities is recognizing via vision. As a result, image recognition has been turned into one of the most attractive areas of research in Computer Vision field since recently. The challenging problem begins to rise where occlusion, scale, rotation and various light conditions contribute and manipulate the paradigm of image recognition. Although recognitions with these challenging problems are some of the capabilities that the brain has, but these are not all. One of the remarkable abilities of the brain is to recognize concepts through...
Design and Implementation of a Gait Pattern for the Humanoid Tobot “Mina”
, M.Sc. Thesis Sharif University of Technology ; Meghdari, Ali (Supervisor) ; Behzadipour, Saeed (Supervisor)
Abstract
In the resent years, social robots has been emerged to improve the interactions between humans and robots. These intractions are intended more in human environment. So the reasonable performance of such robots is achieved if robots’ motion; become similar to humans. Hence, despite the complexities of manufacturing and controlling the bipedal and humanoid robots, the researches on this class of robots are still in continuing more and more. In 2013, the humanoid robot, R-50, made by Robokind Company, was purchased by the Mechanical Engineering Department of Sharif University of Technology. This robot was named Mina and to be used in the researches on the treatment of autism patients. Although...
Design and Realization of a Social Robot for Teaching Sign Language to Hearing-impaired Children Part One: Upper-body, Arms & Hands
, M.Sc. Thesis Sharif University of Technology ; Meghdari, Ali (Supervisor) ; Alemi, Minoo (Supervisor)
Abstract
This thesis covers the design and realization steps of the upper-body of RASA, a social humanoid robot to be used as a Persian sign language (PSL) teaching assistant. In the design and fabrication processes, three main requirments is defined. First requirement is the robot's ability to perform PSL. The second one is for the robot to posess the characteristics required for a social robot interacting with targeted groups of people. And the third one is for the robot to be realized with minimum required cost. Further design guidelines are generated based on these three requirements. Analysing the structure of Persian sign language, the kinematic layout of the upper-body of the robot, regarding...
Design and Construction of a Social Robot for Teaching Sign Language to Hearing Impaired Children (RASA). Part II: The Mobile Lower Body Platform and a Novel 6-bar Linkage Mechanism
, M.Sc. Thesis Sharif University of Technology ; Meghdari ,Ali (Supervisor) ; Alemi, Minoo (Supervisor)
Abstract
In this thesis, the purpose of the research was to develop a four-wheeled Mobile platform (Lower body) with three degrees of freedom for a humanoid robot upper body which is called RASA. RASA robot was designed and constructed for helping kids who have speech and hearing impairments. The objective was to develop a low-cost and affordable robot as compared to its international models to be used at home or school as a teacher assistant. RASA can help kids to learn signs as fast as possible due to the game-based and entertaining education system. The wheeled base platform consists of a new mechanism with 6 bar linkage for bending robot from the hip to about 60 degrees from a vertical position...
Facial Expression Recognition using Kinect Sensor and Alice Humanoid Robot Real-time Facial Expression Imitation
, M.Sc. Thesis Sharif University of Technology ; Meghdari, Ali (Supervisor) ; Bagheri Shouraki, Saeed (Supervisor)
Abstract
In the recent years, development of new technologies in the field of cognitive science has made a huge effect on the people social life style. Facial expression imitation with applications in the design of human robot interaction (HRI) systems is an active area of research. In this study, we propose an approach using a humanoid social robot, The Alice, for real-time imitation of human facial expression. The facial keypoints of the user are extracted by using the Kinect sensor together with manipulated SDK 2.0 codes. Kinect output array are collected for each expression, then the training dataset is created with these output arrays. An accurate Artificial neural network (ANN), which has a...
The Effects of Robot Assisted Language Learning (RALL)on Iranian High-functioning Autistic Children’s Social Skills and English Vocabulary Learning and Retention
, M.Sc. Thesis Sharif University of Technology ; Alemi, Minoo (Supervisor) ; Meghdari, Ali (Co-Advisor)
Abstract
The present case study investigates the effect of applying a humanoid robot as a teacher- assistant to teach a foreign language (English in this case) to Iranian children with autism. Two groups of three male high-functioning autistic students (6-10 years old) with little or no background in English participated in the current study. The humanoid robot NAO made by Aldebaran Robotics was used as a teacher assistant to teach English to the Robot Assisted Language Learning (RALL) group. The non-RALL group received the same lessons simply without the presence of the robot in teaching sessions. However, the non-RALL group also had the chance to interact with the robot through some robotic games...
Modeling, Design, and the Application of Humanoid Robots in the Treatment of Children with Autism
, Ph.D. Dissertation Sharif University of Technology ; Meghdari, Ali (Supervisor) ; Pouretemad, Hamid Reza (Co-Advisor) ; Alemi, Minoo (Co-Advisor)
Abstract
Statistics have shown an endemic worldwide increase of Autistic Spectrum Disorders (ASD) since the 1960s, Iran also faces the same problem. Autistic disorders are characterized by three major behavioral disorders: impaired social interaction, impaired communication, and impaired imagination and social creativity. The usage of robots in autism diagnosis and treatment has been increasing in recent years. In this study, our objective (as one of the pioneers in Iran) is to explore the clinical application of two interactive social humanoid robots (NAO and ALICE with the Iranian names of NIMA and MINA) as medical assistants in the treatment and education of children with autism in order to...
Design and Fabrication of a Mobile Social Robot for Pediatric Cancer Hospitals Part II: Design of the Appearance, Social and Educational Interactions/Interventions of the Robot with Children
, M.Sc. Thesis Sharif University of Technology ; Meghdari, Ali (Supervisor) ; Alemi, Minoo (Co-Supervisor)
Abstract
The purpose of this research is the design and fabrication of a mobile social robot for children with cancer. This robot is named Arash. Interaction with the robot can improve children's education, as well as their mental condition. Design and development of Arash robot project have been carried out in a number of M.Sc. projects. In the present study, it is specifically focused on three areas of activity:
1. Design and fabrication of the robot head (and the overall appearance of the robot)
2. Design and development of human-robot interactions
3. Social and educational interactions/interventions of the robot with children
In this study, with the cooperation of child...
1. Design and fabrication of the robot head (and the overall appearance of the robot)
2. Design and development of human-robot interactions
3. Social and educational interactions/interventions of the robot with children
In this study, with the cooperation of child...
Design and Prototyping and Experimental Analysis of a Foot with Toe Joint for Exoskeletons
, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Golam Reza (Supervisor)
Abstract
One of the recent studies in the field of humanoid robots is to achieve a robot gait close to the human-like gait. Therefore, using the foot equipped with passive or active toe joint is developed in case of robots. The results of several studies show that the segmented foot with a toe joint has several advantages compared to the rigid foot in: walking speed, range of joint angle and ability to kneel and climb higher steps. Both passive and active toe joints of humanoid robots are developed. Advantages of the passive toe joint is obvious; in terms of design, it is more simple and light. Moreover, in normal gait, when the robot is equipped with passive toe joint, body inertial causes an...
A Thesis Submitted in Partial Fulfilment of the Requirements for the Degree of Master of Arts in Teaching English as a Foreign Language
, M.Sc. Thesis Sharif University of Technology ; Alemi, Minoo (Supervisor) ; Meghdari, Ali (Co-Advisor)
Abstract
Although Robot Assisted Language Learning (RALL) has recently received attention as a tool for language learning, its role in pragmatic development has gone unnoticed. Hence, this study sought to explore the effect of RALL on pragmatic learning of greeting, thanking, and request speech acts by young Persian-speaking EFL learners. To this end, 38 preschool female and male kids (3-6 years old) were assigned to the RALL (19 students) and game-based (19 students) groups. The humanoid robot for the RALL group was used as an assistant to the teacher while for the game-based group the instruction was based on gaming methods such as command, mystery bag and pass the ball games. The instructional...
Human-Robot Facial Expression Interaction Using Kinect and Humanoid
, M.Sc. Thesis Sharif University of Technology ; Meghdari, Ali (Supervisor) ; Alemi, Minoo (Co-Supervisor)
Abstract
From the creation of the first robots, researchers have been fascinated by the possibility of interaction between a robot and its environment, by the possibility of robots interacting with each other and with humans. The common, underlying assumption is that humans prefer to interact with machines in the same way that they interact with other people. In this work, an assistant robot is developed based on a commercial platform, known as Alice R-50 (with the Iranian name of Mina). Alice is designed specifically for human-robot social interaction and has been used widely for studies on developmental and social robotics. It is used to improve and encourage the development of communication and...
Employing humanoid robots for teaching english language in Iranian junior high-schools [electronic resource]
, Article International Journal of Humanoid Robotics ; Vol. 11, No. 3 (2014) 1450022 ; Meghdari, Ali ; Ghazisaedy, Maryam ; Sharif University of Technology
Abstract
This paper presents the effect of robotics assisted language learning (RALL) on the vocabulary learning and retention of Iranian English as foreign language (EFL) junior high school students in Tehran, Iran. After taking a vocabulary pre-test, 46 beginner level female students at the age of 12, studying in their first year of junior-high participated in two groups of RALL (30 students) and non-RALL (16 students) in this study. The textbook used was the English book (Prospect-1) devised by the Iranian Ministry of Education for 7th graders, and the vocabulary taught and tested (pre-test and post-test) were taken from this book. Moreover, the treatment given by a teacher accompanied by a...
Social robots as assistants for autism therapy in Iran: Research in progress
, Article 2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014 ; Oct , 2014 , p. 760-766 ; Alemi, M ; Meghdari, A ; Pouretemad, H. R ; Basiri, N. M ; Sharif University of Technology
Abstract
Autistic children are often impaired in initiating and responding to Joint Attention. In recent years, there has been an increase in the application of robots in diagnosis and treatment of autism. The purpose of the current research has been primarily to originate the proper therapeutic scenarios and to implement two interactive humanoid robots as therapy assistants in autism treatment in Iran. To this end, the humanoid robots were programmed and teleoperated via Microsoft Kinect Sensor and PhantomOmni Haptic Robot to elicit reactions consisting of imitation of humans by the humanoid robots and vice versa. In this paper, we elaborate on the therapeutic items that we have designed to improve...
An open loop walking on different slopes for NAO humanoid robot
, Article Procedia Engineering ; Volume 41 , 2012 , Pages 296-304 ; 18777058 (ISSN) ; Sharifi, K. A ; Salehinia, Y ; Najafi, F ; Sharif University of Technology
2012
Abstract
Dynamic gait planning for humanoid robots encounters difficulties such as stability, speed, and smoothness. In most of previous studies, joints' trajectories are calculated in 3D Cartesian space, then, introducing boundary conditions and using polynomials, the first and second derivatives of the motion are ensured to be continuous. Then, the stability of the motion is guaranteed using Zero Moment Point (ZMP) stability criterion. In this study, a trajectory planner is presented using the semi-ellipse equations of the motion; the continuity of the derivatives is preserved. Stabilization of motion is attained through using ZMP criterion and 3d inverted pendulum equations in three slope...
Optimal gait planning for humanoids with 3D structure walking on slippery surfaces
, Article Robotica ; 2015 ; 02635747 (ISSN) ; Moosavian, S. A. A ; Yousefi Koma, A ; Sadedel, M ; Mansouri, S ; Sharif University of Technology
Abstract
In this study, a gait optimization routine is developed to generate walking patterns which demand the lowest friction forces for implementation. The aim of this research is to fully address the question “which walking pattern demands the lowest coefficient of friction amongst all feasible patterns?”. To this end, first, the kinematic structure of the considered 31 DOF (Degrees of Freedom) humanoid robot is investigated and a closed-form dynamics model for its lower-body is developed. Then, the medium through which the walking pattern generation is conducted is presented. In this medium, after designing trajectories for the feet and the pelvis, the joint space variables are obtained, using...
RASA: A low-cost upper-torso social robot acting as a sign language teaching assistant
, Article Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 1 November 2016 through 3 November 2016 ; Volume 9979 LNAI , 2016 , Pages 630-639 ; 03029743 (ISSN) ; 9783319474366 (ISBN) ; Meghdari, A ; Alemi, M ; Sharif University of Technology
Springer Verlag
2016
Abstract
This paper presents the design characteristics of a new robot Assistant for Social Aims (RASA), being an upper-torso humanoid robot platform currently under final stages of development. This project addresses the need for developing affordable humanoid platforms designed to be utilized in new areas of social robotics research, primarily teaching Persian Sign Language (PSL) to children with hearing disabilities. RASA is characterized by three features which are hard to find at the same time in today’s humanoid robots: its dexterous hand-arm systems enabling it to perform sign language, low development cost, and easy maintenance. In this paper, design procedures and considerations are briefly...
Active control of a passive bipedal walking robot
, Article International Journal of Dynamics and Control ; Volume 5, Issue 3 , 2017 , Pages 733-740 ; 2195268X (ISSN) ; Heydari, M ; Alasty, A ; Sharif University of Technology
Abstract
A passive bipedal walking robot can descend down a small slope without any exertion of external force and only by using the gravity force. By exerting a proper energy to a passive biped robot, its walking speed can be controlled and also it can be forced to walk on flat planes and ascending slopes. In this paper, the proper energy is applied to the robot in three different methods: applying a proper moment to the robot joints, applying a proper moment to the robot’s stance leg, and applying a proper movement to the robot’s upper body. It is found that the first method is not practical, but the second and third methods enhance the stability and speed regulation of the robot. Additionally, the...
Online path planning for Surena III humanoid robot using model predictive control scheme
, Article 4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016, 26 October 2016 through 28 October 2016 ; 2017 , Pages 416-421 ; 9781509032228 (ISBN) ; Yousefi Koma, A ; Shirazi, F. A ; Mansouri, S ; Sharif University of Technology
Institute of Electrical and Electronics Engineers Inc
2017
Abstract
In this paper, two online path planning methods are presented for SURENA III humanoid robot by using model predictive control scheme. The methods are general control schemes which can generate the online motions for walking of a humanoid robot. For lowering computational costs a three dimensional linear inverted pendulum model is used instead of the full dynamical model of the robot. The generated trajectories are then used for computing the zero-moment point (ZMP) of the robot and the joint torques. The resulted joint torques of the two methods are compared to torques obtained from Genetic Algorithm (GA) path planning method presented for SURENA III humanoid robot in previous studies. The...
Optimal gait planning for humanoids with 3D structure walking on slippery surfaces
, Article Robotica ; Volume 35, Issue 3 , 2017 , Pages 569-587 ; 02635747 (ISSN) ; Moosavian, S. A. A ; Yousefi Koma, A ; Sadedel, M ; Mansouri, S ; Sharif University of Technology
Cambridge University Press
2017
Abstract
In this study, a gait optimization routine is developed to generate walking patterns which demand the lowest friction forces for implementation. The aim of this research is to fully address the question which walking pattern demands the lowest coefficient of friction amongst all feasible patterns?. To this end, first, the kinematic structure of the considered 31 DOF (Degrees of Freedom) humanoid robot is investigated and a closed-form dynamics model for its lower-body is developed. Then, the medium through which the walking pattern generation is conducted is presented. In this medium, after designing trajectories for the feet and the pelvis, the joint space variables are obtained, using the...