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2013


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Governance of Humanoid Robot Using Master Exoskeleton

Kumra, S., Mohan, M., Gupta, S., Vaswani, H.

In Proceedings of the IEEE International Symposium on Robotics (ISR), Seoul, South Korea, October 2013 (inproceedings)

Abstract
Dexto:Eka: is an adult-size humanoid robot being developed with the aim of achieving tele-presence. The paper sheds light on the control of this robot using a Master Exoskeleton which comprises of an Exo-Frame, a Control Column and a Graphical User Interface. It further illuminates the processes and algorithms that have been utilized to make an efficient system that would effectively emulate a tele-operator.

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DOI [BibTex]

2013


DOI [BibTex]


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Design and development part 2 of Dexto:Eka: - The humanoid robot

Kumra, S., Mohan, M., Gupta, S., Vaswani, H.

In Proceedings of the International Conference on Mechatronics and Automation (ICMA), Takamatsu, Japan, August 2013 (inproceedings)

Abstract
Through this paper, we elucidate the second phase of the design and development of the tele-operated humanoid robot Dexto:Eka:. Phase one comprised of the development of a 6 DoF left anthropomorphic arm and left exo-frame. Here, we illustrate the development of the right arm, right exo-frame, torso, backbone, human machine interface and omni-directional locomotion system. Dexto:Eka: will be able to communicate with a remote user through Wi-Fi. An exo-frame capacitates it to emulate human arms and its locomotion is controlled by joystick. A Graphical User Interface monitors and helps in controlling the system.

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DOI [BibTex]

DOI [BibTex]

2010


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Goal-Oriented Control of Self-Organizing Behavior in Autonomous Robots

Martius, G.

Georg-August-Universität Göttingen, 2010 (phdthesis)

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link (url) [BibTex]

2010


2006


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Let It Roll – Emerging Sensorimotor Coordination in a Spherical Robot

Der, R., Martius, G., Hesse, F.

In Proc, Artificial Life X, pages: 192-198, Intl. Society for Artificial Life, MIT Press, August 2006 (inproceedings)

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[BibTex]

2006


[BibTex]


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From Motor Babbling to Purposive Actions: Emerging Self-exploration in a Dynamical Systems Approach to Early Robot Development

Der, R., Martius, G.

In Proc. From Animals to Animats 9, SAB 2006, 4095, pages: 406-421, LNCS, Springer, 2006 (inproceedings)

Abstract
Self-organization and the phenomenon of emergence play an essential role in living systems and form a challenge to artificial life systems. This is not only because systems become more lifelike, but also since self-organization may help in reducing the design efforts in creating complex behavior systems. The present paper studies self-exploration based on a general approach to the self-organization of behavior, which has been developed and tested in various examples in recent years. This is a step towards autonomous early robot development. We consider agents under the close sensorimotor coupling paradigm with a certain cognitive ability realized by an internal forward model. Starting from tabula rasa initial conditions we overcome the bootstrapping problem and show emerging self-exploration. Apart from that, we analyze the effect of limited actions, which lead to deprivation of the world model. We show that our paradigm explicitly avoids this by producing purposive actions in a natural way. Examples are given using a simulated simple wheeled robot and a spherical robot driven by shifting internal masses.

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[BibTex]

[BibTex]