Editorial: Humanoid Robots for Real-World Applications
Notice bibliographique
Résumé
Humanoid Robots for Real-World ApplicationsSince Honda introduced the P2 in 1996, numerous humanoid robots have been developed around the world, and research and development of various fundamental technologies, including bipedal walking, have been conducted.At the same time, attempts have been made to apply humanoid robots to various applications such as plant maintenance, telemedicine, vehicle operation, home security, construction, aircraft manufacturing, disaster response, evaluation of assistive devices, and entertainment.Humanoid robots have an anthropomorphic body, and their major advantage is that they can move within an environment designed for humans and can use tools and vehicles designed for humans as they are.It is hoped that these advantages can be used to help people focus on more creative activities by replacing activities in harsh environments, hazardous tasks, and low addedvalue tasks that people are forced to perform because existing fixed, wheeled, or crawler-type robots are unable to deal with them.In addition, since the fact that something shaped like a human moves like a human has an effect of attracting people, it can be expected to entertain and heal people by interacting with them.It is easier for humans to understand their "intention" through body language.This is related to the avatar application introduced later.Despite these expectations, even today, more than 25 years after the announcement of P2, there is still no humanoid robot that has been put to practical use other than R&D and communication applications.This is because there is no necessity to use humanoid robots in a structured environment like a conventional factory, where existing robots can be easily applied, and the technology is too immature to use humanoid robots in an environment that is so unstructured that existing robots cannot deal with.This Research Topic introduces two efforts to improve the basic capabilities of humanoid robots and one effort to apply humanoid robots to remote services, with the aim of practical applications of humanoid robots.Until now, almost all humanoid robots have used a method in which joints are accurately position-controlled and position commands are updated using joint velocities calculated by inverse kinematics.Recently, methods that updates the position commands by calculating joint accelerations using inverse dynamics calculations, and methods that control the joint torques are being used.Ramuzat et al. implemented these three approaches on the same hardware platform and clarified the advantages and disadvantages of each approach.The method combining position control and inverse kinematics was found to be the least computationally intensive, while the method using torque control was confirmed to have advantages in terms of smoothness of trajectory tracking, energy consumption, and passivity.
Récupéré en direct depuis OpenAlex et désinversé. Les résumés ne sont pas conservés dans cette base de données : les index inversés représentent 8,6 Go des 9,3 Go de texte de la base, et le serveur dispose de 13 Go libres.
Comment cette classification a été obtenuedéplier
Prédiction machine sur la base complète
Imitation des enseignantsNi prévalence calibrée, ni vérité terrain. Validation humaine à venir. Le volet Gemma est une étiquette directe du modèle pour chaque travail de la base, lue sur la notice réduite au titre. Le volet Codex est un classifieur appris des 10 348 étiquettes directes de Codex et calibré sur les taux pondérés de l'échantillon; les champs sans appui suffisant ne portent aucun appel Codex. Le mode candidate est l'union des deux volets; le consensus est leur intersection. Ces sorties portent le statut machine_predicted_unvalidated et ne sont pas des étiquettes humaines.
Scores du classifieur distillé par catégorie (deux têtes)
| Catégorie | Codex | Gemma |
|---|---|---|
| Métarecherche | 0,005 | 0,017 |
| Méta-épidémiologie (sens strict) | 0,003 | 0,001 |
| Méta-épidémiologie (sens large) | 0,004 | 0,002 |
| Bibliométrie | 0,004 | 0,002 |
| Études des sciences et des technologies | 0,003 | 0,002 |
| Communication savante | 0,007 | 0,005 |
| Science ouverte | 0,003 | 0,002 |
| Intégrité de la recherche | 0,016 | 0,016 |
| Charge utile insuffisante (le modèle a refusé de juger) | 0,023 | 0,031 |
Scores machine (provisoires)
Les deux têtes enseignantes du modèle étudiant, lues sur ce travail. Un score ordonne la base pour la relecture; il n'affirme jamais une catégorie, et le statut de validation accompagne chaque rangée tel quel.
Scores de référence d'un modèle non mature (critères de maturité non atteints, 7 itérations). Un score ordonne; il n'affirme jamais une catégorie.
score_only:v0-immature-baseline · tel quel depuis la passe de notation : score_only signifie que le nombre peut ordonner les travaux, et qu'aucune étiquette de catégorie n'en découleClassification
machine, non validéePrédiction automatique; un appel candidat d’une seule source (Gemma direct ou Codex distillé), pas un consensus.
Le détail, modèle par modèle et score par score, se trouve en fin de page sous « Comment cette classification a été obtenue ».