Humanoid Robotics

We are investigating computational and biological theories of perceptuo-motor control on real humanoid robots. These robots include anthropomorphic arms, oculomotor systems, and even full body humanoid robots. A seleciton of pictures of our full body humanoid is shown in the following pictures.

Contact persons: Jun Nakanishi, Michael Mistry, Jan Peters, Dimitris Pongas, Stefan Schaal

Publications

Nakanishi, J.;Cory, R.;Mistry, M.;Peters, J.;Schaal, S. (in press). Operational space control: A theoretical and emprical comparison, International Journal of Robotics Research.
[Keywords: task space control, operational space control, redundancy resolution, humanoid robotics]
[Detail] [BibTeX] [PDF]

Schaal, S. (2007). The new robotics - towards human-centered machines, HFSP Journal Frontiers of Interdisciplinary Research in the Life Sciences, 1, 2, pp.115-126.
[Keywords: assistive robotics, humanoid robotics, perspective]
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Ijspeert, A.;Nakanishi, J.;Schaal, S. (2003). Learning attractor landscapes for learning motor primitives, in: Becker, S.;Thrun, S.;Obermayer, K. (eds.), Advances in Neural Information Processing Systems 15, pp.1547-1554, Cambridge, MA: MIT Press.
[Keywords: learning nonlinear attractor landscapes movement primitives humanoid robotics statistical learning]
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Peters, J.;Vijayakumar, S.;Schaal, S. (2003). Reinforcement learning for humanoid robotics, Humanoids2003, Third IEEE-RAS International Conference on Humanoid Robots.
[Keywords: reinforcement learning, policy gradients, movement primitives, behaviors, dynamic systems, humanoid robotics]
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Ijspeert, J. A.;Nakanishi, J.;Schaal, S. (2002). Movement imitation with nonlinear dynamical systems in humanoid robots, International Conference on Robotics and Automation (ICRA2002).
[Keywords: movement primitives, behaviors, dynamic systems, computational motor control, attractor landscapes, humanoid robotics, overall best paper award]
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Vijayakumar, S.;D'Souza, A.;Shibata, T.;Conradt, J.;Schaal, S. (2002). Statistical learning for humanoid robots, Autonomous Robots, 12, 1, pp.59-72.
[Keywords: statistical learning, nonparametric regression, distance metric, dimensionality reduction, high dimensional learning, humanoid robotics, oculomotor control, internal models]
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Billard, A.;Schaal, S. (2001). Robust learning of arm trajectories through human demonstration, IEEE International Conference on Intelligent Robots and Systems (IROS 2001), Piscataway, NJ: IEEE.
[Keywords: imitation learning, movement primitives, humanoid robotics]
[Detail] [BibTeX] [PDF]

D'Souza, A.;Vijayakumar, S.;Schaal, S. (2001). Learning inverse kinematics, IEEE International Conference on Intelligent Robots and Systems (IROS 2001), Piscataway, NJ: IEEE.
[Keywords: inverse kinematics, humanoid robotics, high dimensional, resolved motion rate control, local learning, null space optimization]
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Ijspeert, A. J.;Nakanishi, J.;Shibata, T.;Schaal, S. (2001). Nonlinear dynamical systems for imitation with humanoid robots, Humanoids2001, Second IEEE-RAS International Conference on Humanoid Robots.
[Keywords: movement primitives, behaviors, dynamic systems, computational motor control, attractor landscapes, humanoid robotics]
[Detail] [BibTeX] [PDF]

Kotosaka, S.;Schaal, S. (2001). Synchronized robot drumming by neural oscillator, Journal of the Robotics Society of Japan, 19, 1, pp.116-123.
[Keywords: movement primitives, behaviors, dynamic systems, computational motor control, attractor landscapes, humanoid robotics, drumming, synchronization, best annual paper award of the japanese robotics society]
[Detail] [BibTeX]

Schaal, S.;Vijayakumar, S.;D'Souza, A.;Ijspeert, A.;Nakanishi, J. (2001). Real-time statistical learning for robotics and human augmentation, in: Jarvis, R. A.;Zelinsky, A. (eds.), International Symposium on Robotics Research.
[Keywords: humanoid robotics, statistical learning, movement primitives, real-time learning]
[Detail] [BibTeX] [PDF]

Shibata, T.;Vijayakumar, S.;Conradt, J.;Schaal, S. (2001). Biomimetic oculomotor control, Adaptive Behavior, 9, 3/4, pp.189-207.
[Keywords: oculomotor control, cerebellum, smooth pursuit learning, locally weighted learning, tracking, target dynamics, visual attention, humanoid robotics]
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Atkeson, C. G.;Hale, J.;Kawato, M.;Kotosaka, S.;Pollick, F.;Riley, M.;Schaal, S.;Shibata, S.;Tevatia, G.;Ude, A. (2000). Using Humanoid Robots to Study Human Behaviour, IEEE Intelligent Systems, 15, 4, pp.46-56.
[Keywords: humanoid robotics, motor primitives, motion capture, computational motor control]
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Conradt, J.;Tevatia, G.;Vijayakumar, S.;Schaal, S. (2000). On-line learning for humanoid robot systems, Proceedings of the Seventeenth International Conference on Machine Learning (ICML 2000), 1, pp.191-198.
[Keywords: humanoid robotics, on-line learning, nonparametric regression, supersmoothing, incremental]
[Detail] [BibTeX] [PDF]

Kotosaka, S.;Shibata, T.;Schaal, S. (2000). Humanoid Robot DB, Proceedings of the International Conference on Machine Automation (ICMA2000), pp.21-26.
[Keywords: humanoid robotics, computational motor control]
[Detail] [BibTeX]

Schaal, S.;Atkeson, C. G.;Vijayakumar, S. (2000). Real-time robot learning with locally weighted statistical learning, International Conference on Robotics and Automation (ICRA2000).
[Keywords: real-time robot learning, statistical learning, humanoid robotics, finalist for overall best paper award]
[Detail] [BibTeX] [PDF]

Schaal, S.;Sternad, D.;Dean, W.;Kotoska, S.;Osu, R.;Kawato, M. (2000). Reciprocal excitation between biological and robotic research, Sensor Fusion and Decentralized Control in Robotic Systems III, Proceedings of SPIE, 4196, pp.30-40.
[Keywords: humanoid robotics, computational motor control, neuroscience, dynamic systems approach, pattern generators]
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Tevatia, G.;Schaal, S. (2000). Inverse kinematics for humanoid robots, International Conference on Robotics and Automation (ICRA2000), pp.294-299.
[Keywords: inverse kinematics humanoid robotics high dimensional resolved motion rate control efficient extended jacobian]
[Detail] [BibTeX] [PDF]

Vijayakumar, S.;Schaal, S. (2000). Real Time Learning in Humanoids: A challenge for scalability of Online Algorithms, Humanoids2000, First IEEE-RAS International Conference on Humanoid Robots, CD-Proceedings.
[Keywords: humanoid robotics, learning, high-dimensional, internal models, locally weighted regression]
[Detail] [BibTeX] [PDF]

Schaal, S. (1999). Is imitation learning the route to humanoid robots?, Trends in Cognitive Sciences, 3, 6, pp.233-242.
[Keywords: imitation learning, movement primitives, humanoid robotics, review, internal models]
[Detail] [BibTeX] [PDF]