Humanoid Robotics: A Reference

Ambarish Goswami • Prahlad VadakkepatEditors

Humanoid Robotics:A Reference

With 1147 Figures and 81 Tables

123

EditorsAmbarish GoswamiIntuitive SurgicalSunnyvale, CA, USA

Prahlad VadakkepatNational University of SingaporeDepartment of Electrical and Computer EngineeringSingapore, Singapore

ISBN 978-94-007-6045-5 ISBN 978-94-007-6046-2 (eBook)ISBN 978-94-007-6047-9 (print and electronic bundle)https://doi.org/10.1007/978-94-007-6046-2

Library of Congress Control Number: 2018940267

© Springer Nature B.V. 2019This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part ofthe material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation,broadcasting, reproduction on microfilms or in any other physical way, and transmission or informationstorage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodologynow known or hereafter developed.The use of general descriptive names, registered names, trademarks, service marks, etc. in this publicationdoes not imply, even in the absence of a specific statement, that such names are exempt from the relevantprotective laws and regulations and therefore free for general use.The publisher, the authors and the editors are safe to assume that the advice and information in this bookare believed to be true and accurate at the date of publication. Neither the publisher nor the authors orthe editors give a warranty, express or implied, with respect to the material contained herein or for anyerrors or omissions that may have been made. The publisher remains neutral with regard to jurisdictionalclaims in published maps and institutional affiliations.

This Springer imprint is published by the registered company Springer Nature B.V.The registered company address is: Van Godewijckstraat 30, 3311 GX Dordrecht, The Netherlands

To all the young researchers of humanoidrobotics

Preface

Bipedal walking is evident from the earliest homininis, but why our uniquetwo-legged gait evolved the way it did remains a matter of conjecture. Bipedallocomotion is an energetically efficient form of locomotion. Endowed with fourappendages, which is morphologically common among all mammals, bipedalismseems to be an optimal “middle ground” solution involving both locomotionand manipulation. Using all four extremities for mobility would severely reducemanipulation capabilities, whereas two appendages at a minimum seem to benecessary either for locomotion or for effective manipulation. Locomotion on onlyone leg, e.g., hopping, and manipulation with only one hand seems awkward.Moreover, for animals with more than four “legs,” coordination among appendagesbecomes a significant complicating factor both in locomotion and manipulation.Finally, bipedalism generally leads to a relatively slender body structure anda smaller “footprint” which are particularly suited for passing through narrowpathways and through terrain strewn with obstacles, quickly turning in place, beingable to manipulate objects at a large range of heights, and seeing over obstacles.These features give bipedal posture an evolutionary advantage of keeping the headhigh for perceiving dangers and to safeguarding against predators. Bipedalism hasadditional advantages from survival perspective; when our hands are freed fromweight-bearing and locomotion responsibilities, activities involving manipulationsuch as tool making, hunting with hand-held arms such as rocks and spears, andeven the creation of art became possible.

In the modern society, humans have built complex environments, tools, andequipments that are finely adapted for human use. Humanoid robots with human-like morphology and motion capabilities inherently have a greater compatibilityin human environments. We hope that this reference book Humanoid Robotics:A Reference will act as a catalyst, expediting the process toward making bettercustomized humanoids in the not-so-distant future. When planning contents for thebook, we established a few goals for ourselves: (1) Comprehensive: The book shouldcover all the major topics surrounding humanoid robotics, (2) State of the art: Thetechnical content should be current and even future-learning and, wherever possible,should include comments on open questions for future research, (3) High quality:Contributions are to be obtained from the best experts in the field, (4) Approachable:As much as possible, the contents should be understandable by an audience of

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younger researchers, those who are relatively new to the field or are consideringentering the field, and finally (5) Lasting value: The book is intended to have a longlifespan and serve as a one-stop destination on the topic of Humanoid Robotics.

Let us go over the overall structure and contents of Humanoid Robotics: AReference. The reference book is organized in three volumes, which contain 11 Partsin total. Each Part focuses on a broad theme and consists of several chapters.

Volume 1 of the book contains four Parts. Part 1, “History of Humanoid Robots,”contains 4 chapters; Part 2, “Development Story of 14 Famous Humanoid Robots,”contains 14 chapters; Part 3, “Humanoid Mechanism and Design,” contains 13chapters; and finally Part 4, “Humanoid Kinematics and Dynamics,” contains 9chapters, for a total of 946 pages.

The first chapter of the Part “History of Humanoid Robots” is written by Profs.Siciliano and Khatib who are the Chief Editors of the Springer Handbook ofRobotics; it provides a general overview of the contents of this reference bookas well as history of humanoid robotics. The following three chapters exploreperspectives of robotics research in three major geographic areas of the world,Asia, Europe, and America. Part 2, “Development Story of 14 Famous HumanoidRobots,” describes the technical story behind a selection of iconic humanoids thathave pioneered development and helped shape the field. Many of these robotsare well known due to their appearances over the years in museums, television,and news outlets across the world. Each contribution discusses a brief historyof the robot, its design and capabilities, and the outcomes that led to seminalwork. Part 3, “Humanoid Mechanism and Design,” is all about robot hardware.Starting from historical aspects of humanoid design, it focuses on individual limbmechanisms such as head and face, shoulder, arm and hand, leg, foot and toe. Thenit presents examples of mechanism design of a number of existing whole-bodyhumanoid robots. The part will conclude with a discussion and future directionsin this area. Finally, the Part “Humanoid Kinematics and Dynamics” covers theunique aspects of kinematics and dynamics of humanoid robots. Starting from ahistorical perspective, the part reviews common concepts to modeling kinematicsand dynamics. Next, it focusses on specifics of humanoid robots. Associatedimportant topics including parameter estimation techniques and analogy with ahuman body kinematics/dynamics are also discussed. This Part concludes with adiscussion on future directions in this area.

Volume 2 of the book contains three parts: Parts 5, 6, and 7. Part 5, “HumanoidControl,” contains 15 chapters; Part 6, “Humanoid Balance,” contains 9 chapters;and the third and final Part of this volume, Part 7, “Humanoid Motion Planning,Optimization and Gait Generation” contains 12 chapters, for a total of 990 pages forthis volume.

The Part “Humanoid Control” represents a concerted effort to encapsulate thestate of art in humanoid robot motion control from both theoretical and practicalpoints of view. It reports on motion control principles for humanoids stabilization,locomotion, and whole body motion including methods which have taken inspira-tion from mechanics (ZMP, energy transfer, resolved momentum, and compliancecontrol), from automatic (poincare stability and predictive control), from simplified

Preface ix

to more complex models, (inverted pendulum, cart table, multiple mass models,and passive walking systems) and from human neuromechanical motion controlprinciples (central pattern generator and neural networks learning). Part 6 deals withthe topic of “Humanoid Balance.” Balance is a generic term describing the abilityto control the body posture in order to prevent falling. The need for balance controlis one of the fundamental properties characterizing bipedal humanoid robots due totheir limited supporting area provided by the feet. It involves whole body motioncoordination based on multiple sensory data as well as controlling the motionresponse with respect to external perturbations during standing and walking.

Physiological basis and biomechanical description of human balance arereviewed and compared to several state-of-the-art approaches developed in roboticsresearch. Finally, the Part “Humanoid Motion Planning, Optimization and GaitGeneration” covers advanced methods for planning global motion and alsogenerating trajectories of humanoid robots, by taking into account their complexityin geometry, kinematics, and dynamics. This is a central topic in humanoid, andindeed, for all mobile robots because these robots are naturally expected to navigatethrough various environments and to execute useful tasks by coordinated motionsof their arms and legs. The presented advanced techniques for humanoid robotsinclude motion planning, walking pattern generation, motion optimization andrelated topics, as well as their integration in real hardware.

Volume 3 contains four parts: Parts 8, 9, 10, and 11. Part 8, “Humanoid Simula-tions and Software,” contains 9 chapters, Part 9; “Human-Humanoid Interaction,”contains 13 chapters; Part 10, “Humanoid Sensing, Actuation and Intelligence,”contains 9 chapters; and finally, Part 11, “Application of Humanoids,” contains 6chapters, with a total of 896 pages.

The Part “Humanoid Simulations and Software” presents the state-of-the-artmethods and systems related to simulating motions and behaviors of humanoidrobots. Topics covered include algorithms for rigid body and contact dynamics,modeling and simulation of various elements composing humanoid robots, andsoftware architecture to efficiently handle virtual and real robots. It also gives acomprehensive overview of publicly available software systems so that readerscan choose appropriate simulators for their research. The Part “Human-HumanoidInteraction” presents a number of modalities in which interaction between a humanand a humanoid can be carried out. A human can interact with a robot usingmovement, speech and language, symbolic gestures, and physical interaction, whichare all described in this Part. The next Part “Humanoid Sensing, Actuation andIntelligence” explores the fundamental principles in the main types of sensors andservos used in humanoid actuation. The sensors on the humanoid robots are used tomeasure the current state of the robot and its environment. There are internal sensorsto measure the state of the robot such as joint angles, velocities, and joint torques.IMU sensors including accelerometers and rate gyros are used to sense the postureof robot body similar to a human vestibular organ. Interaction between the robot andenvironment can be detected through tactile and force/torque sensors. Vision andrange sensors measure and estimate the environment information around the robot.The final Part of the book, “Application of Humanoids” explores actual applications

x Preface

of humanoid robots in the human society. The possibilities are many and we haveto work tirelessly toward making humanoids a beneficial and financially justifiedtechnical solution.

It would be incorrect to say that the preparation of this reference book wasan easy task. We started with very little experience of handling a project ofsuch large magnitude, and we mostly learned while on the task. In retrospect,ignorance is indeed a useful thing, because if we had a clear measure of the size ofthe task and its demand on our time, it would have given us an introspective pause.Nevertheless, working on the book gave us an amazing opportunity of interactingwith all the brilliant minds in the world of humanoid robotics; that is definitely aconcrete bonus for us. The authors’ list attests to the fact that the book has broughttogether the very top researchers of the field. This gives us tremendous satisfaction.Our sincere thanks go to each of the 199 contributors.

The task of preparing the book was made simpler by the generous help from thePart Editors, 27 in all, who are to be credited for coordinating with the individualcontributors of their respective Part and managing the technical review processof each chapter. The majority of Part Editors are faculty members or membersof research labs, and a project of this nature does not directly contribute to theirtenure evaluation or their effort in securing research funding. Despite this, the PartEditors accepted their role with sincerity and managed each step of the process withdiligence. We cannot thank them enough. The selection of these Part Editors hasprobably been the most important contribution of the Editors in Chief.

Last but not least, we would like to thank the publication team of Springer fortheir great sustaining efforts in publishing this book. They know how instrumentaltheir help has been in so many aspects of the project. Yet in all their day-to-dayinteractions, even when we were missing our deadlines by a mile, they continued tobe nice and friendly. It was a pleasure to work with them.

Intuitive Surgical, USA Ambarish GoswamiNUS, Singapore Prahlad Vadakkepat

Contents

Volume 1

Part I History of Humanoid Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

Humanoid Robots: Historical Perspective, Overview, and Scope . . . . . . 3Bruno Siciliano and Oussama Khatib

Historical Perspective of Humanoid Robot Researchin the Americas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9Stefan Schaal

Historical Perspective of Humanoid Robot Research in Europe . . . . . . . 19Yannick Aoustin, Christine Chevallereau, and Jean-Paul Laumond

Historical Perspective of Humanoid Robot Research in Asia . . . . . . . . . . 35Atsuo Takanishi

Part II Development Story of 14 Famous Humanoid Robots . . . . . . . . 53

ASIMO and Humanoid Robot Research at Honda . . . . . . . . . . . . . . . . . . 55Satoshi Shigemi

MIT Cog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91Brian Scassellati

HRP-4 and Other HRP Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101Shuuji Kajita

History of HUBO: Korean Humanoid Robot . . . . . . . . . . . . . . . . . . . . . . . 117Jung-Woo Heo, Jungho Lee, In-Ho Lee, Jeongsoo Lim, and Jun-Ho Oh

Johnnie and LOLA: The TUM Bipeds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131Thomas Buschmann and Michael Gienger

NAO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147Rodolphe Gelin

The PETMAN and Atlas Robots at Boston Dynamics . . . . . . . . . . . . . . . . 169Gabe Nelson, Aaron Saunders, and Robert Playter

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Sony QRIO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187Kenichiro Nagasaka

Robonaut, Valkyrie, and NASA Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201John Yamokoski and Nicolaus Radford

Toyota Partner Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215Masahiro Doi and Yuichiro Nakajima

WABIAN and Other Waseda Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265Kenji Hashimoto and Atsuo Takanishi

iCub . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291Lorenzo Natale, Chiara Bartolozzi, Francesco Nori, Giulio Sandini, andGiorgio Metta

Sarcos Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325Fraser Smith

The Karlsruhe ARMAR Humanoid Robot Family . . . . . . . . . . . . . . . . . . 337Tamim Asfour, Rüdiger Dillmann, Nikolaus Vahrenkamp, Martin Do,Mirko Wächter, Christian Mandery, Peter Kaiser, Manfred Kröhnert,and Markus Grotz

Part III Humanoid Mechanism and Design . . . . . . . . . . . . . . . . . . . . . . . 369

Introduction: Humanoid Mechanism and Design . . . . . . . . . . . . . . . . . . . . 371Kensuke Harada

Leg Mechanism of LOLA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 377Sebastian Lohmeier

Compliant Leg Mechanism of Coman . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 407Nikos G. Tsagarakis, Gustavo Medrano Cerda, and Darwin G. Caldwell

Human-Like Toe Joint Mechanism . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 435Ko Yamamoto

Wire Driven Multi-fingered Hand . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 457Hiroshi Kaminaga

DLR Multi-fingered Hands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 481Markus Grebenstein, Maxime Chalon, Máximo A. Roa, andChristoph Borst

Underactuation with Link Mechanisms . . . . . . . . . . . . . . . . . . . . . . . . . . . . 523Clément Gosselin

BarrettHand Grasper: Programmably Flexible Part Handlingand Assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 535William T. Townsend

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Human-Like Hand Mechanism . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 553Ashish D. Deshpande

Human-Like Face and Head Mechanism . . . . . . . . . . . . . . . . . . . . . . . . . . . 571Tatsuhiro Kishi, Kenji Hashimoto, and Atsuo Takanishi

Mechanism Design of Human-Like HRP-4C . . . . . . . . . . . . . . . . . . . . . . . . 597Shuuji Kajita

Mechanism Design Outline of Hubo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 615Taejin Jung, Jeongsoo Lim, Hyoin Bae, and Jun-Ho Oh

Mechanism Design of DLR Humanoid Robots . . . . . . . . . . . . . . . . . . . . . . 637Christian Ott, Máximo A. Roa, Florian Schmidt, Werner Friedl,Johannes Englsberger, Robert Burger, Alexander Werner, AlexanderDietrich, Daniel Leidner, Bernd Henze, Oliver Eiberger, AlexanderBeyer, Berthold Bäuml, Christoph Borst, and Alin Albu-Schäffer

Part IV Humanoid Kinematics and Dynamics . . . . . . . . . . . . . . . . . . . . 663

Historical Perspective and Scope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 665Tomomichi Sugihara

Differential Kinematics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 675Dragomir Nenchev

Dynamics Analysis: Equations of Motion . . . . . . . . . . . . . . . . . . . . . . . . . . 723Tomomichi Sugihara and Yasutaka Fujimoto

Dynamic Formulations and ComputationalAlgorithms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 755Hubert Gattringer and Andreas Mueller

Contact Dynamics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 785Tomomichi Sugihara

Reduced-Order Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 811Tomomichi Sugihara and Katsu Yamane

Calibration and Parameter Estimation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 849Gentiane Venture and Ko Ayusawa

A Comparative Study Between Humans and HumanoidRobots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 873Katsu Yamane and Akihiko Murai

Humanoid Kinematics and Dynamics: Open Questions and FutureDirections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 893Michael Gienger and Jochen J. Steil

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Volume 2

Part V Humanoid Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 903

Linear Inverted Pendulum-Based Gait . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 905Shuuji Kajita

Gait Based on the Spring-Loaded Inverted Pendulum . . . . . . . . . . . . . . . 923Hartmut Geyer and Uluc Saranli

Limit Cycle Gaits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 949Fumihiko Asano

Neuromuscular Control Models of Human Locomotion . . . . . . . . . . . . . . 979Hartmut Geyer and André Seyfarth

Compliance/Impedance Control Strategy for Humanoids . . . . . . . . . . . . 1009Jong Hyeon Park

Passivity-Based Control Strategy for Humanoids . . . . . . . . . . . . . . . . . . . . 1029Jong Hyeon Park

Virtual Constraints and Hybrid Zero Dynamics for RealizingUnderactuated Bipedal Locomotion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1045Jessy W. Grizzle and Christine Chevallereau

Model Predictive Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1077Pierre-Brice Wieber

CPG-Based Control of Humanoid Robot Locomotion . . . . . . . . . . . . . . . . 1099Florin Dzeladini, Nadine Ait-Bouziad, and Auke Ijspeert

Humanoid Body Control Using Neural Networks andFuzzy Logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1135Dilip Kumar Pratihar, V. Pandu Ranga, and Rega Rajendra

Whole-Body Control of Humanoid Robots . . . . . . . . . . . . . . . . . . . . . . . . . 1161Federico L. Moro and Luis Sentis

Reflex Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1185Riadh Zaier

Toward a Codesign Approach for Versatile and Energy-EfficientHumanoid Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1221Jean-Paul Laumond and Mehdi Benallegue

Principles of Energetics and Stability in LeggedLocomotion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1231Jeremy D. Wong and J. Maxwell Donelan

Learning Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1261Sylvain Calinon and Dongheui Lee

Contents xv

Part VI Humanoid Balance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1313

Introduction to Humanoid Balance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1315Jerry E. Pratt, Christian Ott, and Sang-Ho Hyon

Human Sense of Balance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1323Thomas Mergner and Robert J. Peterka

Torque-Based Balancing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1361Christian Ott and Sang-Ho Hyon

Angular Momentum-Based Balance Control . . . . . . . . . . . . . . . . . . . . . . . 1387Sung-Hee Lee, Andreas Hofmann, and Ambarish Goswami

Stepping for Balance Maintenance Including Push-Recovery . . . . . . . . . 1419Jerry E. Pratt, Sylvain Bertrand, and Twan Koolen

Feedback Control of Inverted Pendulums . . . . . . . . . . . . . . . . . . . . . . . . . . 1467Shuuji Kajita

Technical Implementations of the Sense of Balance . . . . . . . . . . . . . . . . . . 1489Michael Bloesch and Marco Hutter

Balancing via Position Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1519Youngjin Choi, Yonghwan Oh, and Giho Jang

Optimization-Based Control Approaches to Humanoid Balancing . . . . . 1541Aurélien Ibanez, Philippe Bidaud, and Vincent Padois

Part VII Humanoid Motion Planning, Optimization, and GaitGeneration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1569

Introduction: Motion Planning, Optimization, and Biped GaitGeneration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1571Eiichi Yoshida and Katja Mombaur

Whole-Body Motion Planning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1575Eiichi Yoshida, Fumio Kanehiro, and Jean-Paul Laumond

Obeying Constraints During Motion Planning . . . . . . . . . . . . . . . . . . . . . . 1601Dmitry Berenson

Manipulation and Task Execution by Humanoids . . . . . . . . . . . . . . . . . . . 1633Kensuke Harada and Máximo A. Roa

Human Motion Imitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1657Dana Kulic

Principles Underlying Locomotor Trajectory Formation . . . . . . . . . . . . . 1679Manish Sreenivasa, Jean-Paul Laumond, Katja Mombaur, andAlain Berthoz

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Biped Footstep Planning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1697Nicolas Perrin

Adaptive Locomotion on Uneven Terrains . . . . . . . . . . . . . . . . . . . . . . . . . . 1719Kris Hauser

SLAM and Vision-based Humanoid Navigation . . . . . . . . . . . . . . . . . . . . . 1739Olivier Stasse

Multi-contact Motion Planning and Control . . . . . . . . . . . . . . . . . . . . . . . . 1763Karim Bouyarmane, Stéphane Caron, Adrien Escande, andAbderrahmane Kheddar

Humanoid Motion Optimization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1805Katja Mombaur

Humanoid Motion Planning, Optimization, and Gait Generation:Open Questions and Future Directions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1843Katja Mombaur and Eiichi Yoshida

Volume 3

Part VIII Humanoid Simulation and Software . . . . . . . . . . . . . . . . . . . . 1849

Humanoid Simulation and Software: Overview . . . . . . . . . . . . . . . . . . . . . 1851Katsu Yamane

Multi-body Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1855Katsu Yamane

Contact Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1877Evan Drumwright and Jeffrey C. Trinkle

Collision Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1933Young J. Kim, Ming C. Lin, and Dinesh Manocha

Actuator Modeling and Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1957Jörn Malzahn, Victor Barasuol, and Klaus Janschek

Sensor Calibration, Modeling, and Simulation . . . . . . . . . . . . . . . . . . . . . . 2007Qianli Ma and Gregory S. Chirikjian

Simulation for Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2043KangKang Yin, Libin Liu, and Michiel van de Panne

Simulation for AI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2087Tadahiro Taniguchi

Free Simulation Software and Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2111Barkan Ugurlu and Serena Ivaldi

Contents xvii

Part IX Human-Humanoid Interaction . . . . . . . . . . . . . . . . . . . . . . . . . . 2131

Human-Humanoid Interaction: Overview . . . . . . . . . . . . . . . . . . . . . . . . . . 2133Guido Herrmann and Ute Leonards

Joint Action in Humans: A Model for Human-RobotInteraction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2149Arianna Curioni, Gunther Knoblich, and Natalie Sebanz

Movement-Based Communication for Humanoid-HumanInteraction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2169Giulio Sandini, Alessandra Sciutti, and Francesco Rea

Enriching the Human-Robot Interaction Loop with Natural,Semantic, and Symbolic Gestures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2199Katrin Solveig Lohan, Hagen Lehmann, Christian Dondrup, Frank Broz,and Hatice Kose

Applications in HHI: Physical Cooperation . . . . . . . . . . . . . . . . . . . . . . . . . 2221Markus Rickert, Andre Gaschler, and Alois Knoll

Speech and Language in Humanoid Robots . . . . . . . . . . . . . . . . . . . . . . . . 2261Angelo Cangelosi and Tetsuya Ogata

Human-Robot Teaming: Approaches from Joint Actionand Dynamical Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2293Tariq Iqbal and Laurel D. Riek

Embodiment, Situatedness, and Morphology for Humanoid RobotsInteracting with People . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2313Blanca Miller and David Feil-Seifer

Empathy as Signalling Feedback Between Humanoid Robotsand Humans . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2337Tatsuya Nomura

Dynamic Control for Human-Humanoid Interaction . . . . . . . . . . . . . . . . 2347S. G. Khan, S. Bendoukha, and M. N. Mahyuddin

Assistive Humanoid Robots for the Elderly with Mild CognitiveImpairment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2377François Ferland, Roxana Agrigoroaie, andAdriana Tapus

Safe and Trustworthy Human-Robot Interaction . . . . . . . . . . . . . . . . . . . . 2397Dejanira Araiza-Illan and Kerstin Eder

Ethical Issues of Humanoid-Human Interaction . . . . . . . . . . . . . . . . . . . . 2421Rafael Capurro

xviii Contents

Part X Humanoid Sensing, Actuation, and Intelligence . . . . . . . . . . . . 2437

Pneumatic Prime Movers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2439Tim Swift

Transmissions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2447Christopher McQuin

Importance of Humanoid Robot Detection . . . . . . . . . . . . . . . . . . . . . . . . . 2463Taher Abbas Shangari, Soroush Sadeghnejad, and Jacky Baltes

Humanoid Multi-robot Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2473John E. Anderson

Multi-Axis Force-Torque Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2483Jung-Hoon Kim

Applications of IMU in Humanoid Robot . . . . . . . . . . . . . . . . . . . . . . . . . . 2497Qiang Huang and Si Zhang

Range Sensors: Ultrasonic Sensors, Kinect, and LiDAR . . . . . . . . . . . . . . 2521Jongmoo Choi

Tactile Sensing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2539Lorenzo Natale and Giorgio Cannata

Sensor Fusion and State Estimation of the Robot . . . . . . . . . . . . . . . . . . . . 2563Francesco Nori, Silvio Traversaro, and Maurice Fallon

Part XI Applications of Humanoids . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2593

Humanoid Robot Applications: Introduction . . . . . . . . . . . . . . . . . . . . . . . 2595Rodolphe Gelin and Jean-Paul Laumond

Humanoid Robots for Entertainment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2599Steven “Mouse” Silverstein and Katsu Yamane

Humanoid Robots in Education: A Short Review . . . . . . . . . . . . . . . . . . . 2617Amit Kumar Pandey and Rodolphe Gelin

Application of Nextage: Next-Generation Industrial Robot . . . . . . . . . . . 2633Kensuke Harada

Toward New Humanoid Applications: Wearable Device EvaluationThrough Human Motion Reproduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2645Eiichi Yoshida, Ko Ayusawa, Yumeko Imamura, and Takayuki Tanaka

Inclusion of Humanoid Robots in Human Society: Ethical Issues . . . . . . 2665Raja Chatila

Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2675

About the Editors

Ambarish Goswami is a Principal Systems Analyst atIntuitive Surgical, California, where he is working oncurrent and future generation da Vinci surgical roboticssystem, especially on improving human-robot interac-tion and user-experience aspects.

Before joining Intuitive Surgical, Ambarish was aPrincipal Scientist at Honda Research Institute. AtHonda, Ambarish performed research in humanoidrobots, assistive exoskeletons, mechatronics, and vehi-cles dynamics. Most recently, he led the System Inte-gration and Control Group for self-driving car activities(AD/ADAS), and in 2015 his team successfully demon-strated sensor and GPS-mediated autonomous drivingin an experimental urban setting in California.

Ambarish received the Bachelor’s degree fromJadavpur University, Kolkata, India, the Master’sdegree from Drexel University, Philadelphia, PA,and the Ph.D. degree from Northwestern University,Evanston, IL, all in Mechanical Engineering.

Ambarish Goswami’s Ph.D. work, under Prof.Michael Peshkin, was in the area of automated assem-bly and robot-assisted total knee-replacement surgery,which was one of the earliest works in the field. Forfour years following his Ph.D. Ambarish worked atthe INRIA Laboratory in Grenoble, France, as a per-manent scientific staff (Charge de Recherche). He wasa member of “BIP” Project which developed the firstanthropomorphic biped robot in France. Subsequently,he became an IRCS Fellow at the Center for HumanModeling and Simulation at the University of Pennsyl-vania, where he worked with Profs. Norm Badler andDimitris Metaxas. He then worked at Autodesk in SanFrancisco in the exclusive core development team for

xix

xx About the Editors

the leading animation software 3D Studio Max. Hisarea was human arm kinematics, inverse kinematics,constraint systems, and dynamics.

Ambarish has held visiting faculty positions at theOhio State University and the University of Illinois atUrbana-Champaign for short periods.

With Prof. Bernard Espiau, Ambarish is an origi-nator of the Compass Gait Model, which is popularamong scientists for simplified analysis of locomotionin human and biped robots. Ambarish introduced theReaction Mass Pendulum (RMP) model which is use-ful for the understanding and exploitation of angularmomentum and other inertial effects.

Ambarish has also contributed to the understandingof humanoid robot balance and introduced the FootRotation Indicator (FRI) point and Centroidal MomentPivot (CMP), the latter with Marko Popovich andHugh Herr, as well as Centroidal Angular Momen-tum, with David Orin. In the field of human-assistexoskeletons, Ambarish and his colleagues developedthe frameworks of Admittance Shaping Control andmotion amplification.

Ambarish has more than 90 publications with atotal of more than 8300 Google Scholar citations, andan h-index of 39; he also has 24 patents. Ambarishhas served in the Editorial Boards of IEEE/ASMETransactions on Mechatronics, Journal of HumanoidRobotics (World Scientific), and Robotica (CambridgeUniversity Press).

Ambarish is an ASME Fellow (2013).

Prahlad Vadakkepat, an Associate Professor at theNational University of Singapore, is the founder sec-retary of the Federation of International Robot-soccerAssociation and was its General Secretary during2000–2016. Vadakkepat’s work in FIRA has led toseveral start-ups in robotics and embedded systems. Hishumanoid robots and robot soccer teams have consis-tently won several international prizes: First prize andoverall championship in humanoid robot soccer at theFIRA Robot World Cup (Germany 2006, Singapore2005, and Austria 2003), First Prize (open category) inSingapore Robotic Games (2004), and Second prize inFIRA 2004.

About the Editors xxi

He was the General Chair to the FIRA Robot WorldCup and Congress Singapore 2005, General ProgramChair to FIRA Robot World Congress Incheon 2009,and General Chair to FIRA Robot World Cup andCongress Bangalore 2010. He was the Founder Direc-tor to an entrepreneurial start-up “Robhatah RoboticSolutions” at Singapore and Bangalore.

He is a Senior Member of IEEE (USA, since 2005)and a life member of the IEEE HKN honor society.He was the Secretary to the IEEE Singapore Section in2005. He had served as Technical Activity Coordinatorto the IEEE Region 10 (Asia-Pacific) during 2001–2002. He is a Fellow of the Institute of Electronics andTelecommunications Engineers (IETE), India.

He is a nominated member of the Loka Kerala Sabha(World Kerala Assembly) initiated by Govt. of Kerala.He is one of the resource persons in the Igniting MindsMovement by Vijyana Bharathi India (VIBHA) whichis a program enabling students to shed conventions andthink out of the box. He has produced a full lengthfeature film in Malayalam language which has receivedaccolades at international film festivals.

Dr. Prahlad Vadakkepat received the B.Eng. degreein Electrical Engineering from Calicut University, Ker-ala, in 1986, and the M.Tech. and Ph.D. degrees fromthe Indian Institute of Technology, Madras, in 1989 and1996, respectively. Since 1999, he is with the NationalUniversity of Singapore. His research interests includerobotics, AI, humanoid robotics, and frugal innovation.

Part Editors

History of Humanoid Robots

Prof. Bruno Siciliano Department of Electrical Engineering and InformationTechnology, University of Naples Federico II, Naples, Italy

Prof. Oussama Khatib Robotics Laboratory, Department of Computer Science,Stanford University, Stanford, CA, USA

xxiii

xxiv Part Editors

Development Story of 14 Famous Humanoid Robots

Prof. Paul Oh Endowed Lincy Professor of Unmanned Aerial Systems, Universityof Nevada Las Vegas, Las Vegas, NV, USA

Prof. Tamim Asfour High Performance Humanoid Technologies, Institute forAnthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Ger-many

Dr. Hiro Hirukawa National Institute of Advanced Industrial Science and Technol-ogy (AIST), Tsukuba, Japan

Part Editors xxv

Humanoid Mechanism and Design

Prof. Kensuke Harada Department of Systems Innovation, Graduate School ofEngineering Science, Osaka University, Toyonaka, Japan

Humanoid Kinematics and Dynamics

Dr. Michael Gienger Honda Research Institute Europe GmbH, Offenbach,Germany

Prof. Luis Sentis Human Centered Robotics Laboratory, The University of Texasat Austin, Austin, TX, USA

xxvi Part Editors

Prof. Tomomichi Sugihara Osaka University, Osaka, Japan

Humanoid Control

Dr. Nikos G. Tsagarakis Humanoids and Human Centred Mechatronics ResearchLine, Istituto Italiano di Tecnologia (IIT-Genova), Genova, Italy

Dr. Christine Chevallereau CNRS, Laboratory of Digital Sciences of Nantes(LS2N), Ecole Centrale de Nantes, Nantes, France

Part Editors xxvii

Dr. Kazuhito Yokoi National Institute of Advanced Industrial Science and Tech-nology (AIST), Humanoid Research Group, Tsukuba, Japan

Humanoid Balance

Dr. Christian Ott Institute of Robotics and Mechatronics, German AerospaceCenter (DLR), Wessling, Germany

Prof. Sang-Ho Hyon Department of Robotics, Ritsumeikan University, Shiga,Kusatsu-shi, Japan

xxviii Part Editors

Dr. Jerry E. Pratt Institute for Human and Machine Cognition, Pensacola, FL,USA

Humanoid Motion Planning, Optimization, and Gait Generation

Dr. Eiichi Yoshida National Institute of Advanced Industrial Science and Tech-nology (AIST), CNRS-AIST JRL (Joint Robotics Laboratory), Umezono, Ibaraki,Japan

Prof. Katja Mombaur Optimization, Robotics and Biomechanics, Institute ofComputer Engineering, Heidelberg University, Heidelberg, Germany

Part Editors xxix

Humanoid Simulation and Software

Dr. Katsu Yamane Honda Research Institute USA, Mountain View, CA, USA

Dr. Stelian Coros Robotics Institute, Carnegie Mellon School of Computer Science,Carnegie Mellon University, Pittsburgh, PA, USA

Human-Humanoid Interaction

Dr. Guido Herrmann Department of Mechanical Engineering, University ofBristol, Bristol, UK

xxx Part Editors

Dr. Ute Leonards School of Experimental Psychology, University of Bristol,Bristol, UK

Humanoid Sensing, Actuation, and Intelligence

Prof. Jaeheung Park Department of Transdisciplinary Studies, Seoul NationalUniversity, Suwon-si, Gyeonggi-do, Korea

Prof. Jung-Hoon Kim Construction Robot and Automation Laboratory, Depart-ment of Civil and Environmental Engineering, Yonsei University, Seoul, SouthKorea

Part Editors xxxi

Prof. Jacky Baltes Department of Electrical Engineering, National Taiwan NormalUniversity, National Taiwan Normal University 3 Educational Robotics Center,Taipei, Taiwan

Applications of Humanoids

Prof. Rodolphe Gelin SoftBank Robotics, Paris, France

Dr. Masahiro Doi Partner Robot Division, Toyota Motor Corporation, AdvancedTechnology Engineering Department, Toyota, Japan

xxxii Part Editors

Dr. Jean-Paul Laumond LAAS-CNRS, Toulouse, France

Contributors

Roxana Agrigoroaie Robotics and Computer Vision Lab, U2IS, ENSTA-ParisTech, Palaiseau Cedex, France

Nadine Ait-Bouziad Laboratory of Molecular and Chemical Biology of Neurode-generation, École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland

Alin Albu-Schäffer Institute of Robotics and Mechatronics, German AerospaceCenter (DLR), Wessling, Germany

John E. Anderson Department of Computer Science, University of Manitoba,Winnipeg, MB, Canada

Yannick Aoustin Laboratoire Des Sciences du Numérique de Nantes, (LSN2)UMR CNRS 6004, Université de Nantes UFR des Sciences et Techniques de Nantes,Nantes Cedex 3, France

Dejanira Araiza-Illan Department of Computer Science, University of Bristol,Bristol, UK

Fumihiko Asano School of Information Science, Japan Advanced Institute ofScience and Technology, Ishikawa, Japan

Tamim Asfour High Performance Humanoid Technologies, Institute for Anthro-pomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany

Ko Ayusawa CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/RL, Intel-ligent Systems Research Institute, National Institute of Advanced Industrial Scienceand Technology (AIST), Tsukuba, Ibaraki, Japan

Hyoin Bae Division of Mechanical Engineering, School of Mechanical, Aerospace& Systems Engineering, KAIST, Daejeon, South Korea

Jacky Baltes National Taiwan Normal University 3 Educational Robotics Center,Department of Electrical Engineering, National Taiwan Normal University, Taipei,Taiwan

Victor Barasuol Department of Advanced Robotics, Istituto Italiano di Tecnolo-gia, Genoa, Italy

Chiara Bartolozzi iCub Facility, Istituto Italiano di Tecnologia, Genova, Italyxxxiii

xxxiv Contributors

Berthold Bäuml Institute of Robotics and Mechatronics, German AerospaceCenter (DLR), Wessling, Germany

Mehdi Benallegue AIST, Tsukuba, Ibaraki, Japan

S. Bendoukha Department of Electrical Engineering, College of EngineeringYanbu, Taibah University, Yanbu Branch, Yanbu, Saudi Arabia

Dmitry Berenson Department of Electrical Engineering and Computer Science,University of Michigan, Ann Arbor, MI, USA

Alain Berthoz CNRS, Collège de France, Paris, France

Sylvain Bertrand Institute for Human and Machine Cognition, Pensacola, FL,USA

Alexander Beyer Institute of Robotics and Mechatronics, German AerospaceCenter (DLR), Wessling, Germany

Philippe Bidaud CNRS UMR 7222, Institut des Systèmes Intelligents et deRobotique (ISIR), Sorbonne Universitès, UPMC Univ Paris 06, Paris Cedex 05,France

ONERA, Palaiseau, France

Michael Bloesch Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland

Christoph Borst Institute of Robotics and Mechatronics, German AerospaceCenter (DLR), Wessling, Germany

Karim Bouyarmane CNRS, Inria Nancy - Grand Est, Loria UMR 7503, Larsenteam, Université de Lorraine, Vandœuvre-Lès-Nancy, France

Frank Broz School of Mathematical and Computer Sciences, Heriot-Watt Univer-sity, Edinburgh, UK

Robert Burger Institute of Robotics and Mechatronics, German Aerospace Center(DLR), Wessling, Germany

Thomas Buschmann Institute of Applied Mechanics, Technische UniversitätMünchen, Garching, Germany

Darwin G. Caldwell Istituto Italiano di Tecnologia (IIT-Genova), AdvancedRobotics, Genova, Italy

Sylvain Calinon Idiap Research Institute, Martigny, Switzerland

Angelo Cangelosi Centre for Robotics and Neural Systems, School of Computingand Mathematics, Plymouth University, Plymouth, UK

Department of Intermedia Art and Science, Faculty of Science and Engineering,Waseda University, Tokyo, Japan

Giorgio Cannata DIBRIS, Università degli Studi di Genova, Genova, Italy

Contributors xxxv

Rafael Capurro International Center for Information Ethics (ICIE), Karlsruhe,Germany

Stéphane Caron Interactive Digital Human (IDH), CNRS-University of Montpel-lier, Montpellier, France

Maxime Chalon Institute of Robotics and Mechatronics, German AerospaceCenter (DLR), Wessling, Germany

Raja Chatila UPMC Univ Paris 6, CNRS, Institut des Systemes Intelligents et deRobotique (ISIR), Sorbonne Universités, Paris, France

Christine Chevallereau Laboratoire des Sciences du Numérique de Nantes(LS2N), UMR CNRS 6004, CNRS, Nantes Cedex 3, France

Gregory S. Chirikjian Robot and Protein Kinematics Laboratory, Laboratory forComputational Sensing and Robotics, Department of Mechanical Engineering, TheJohns Hopkins University, Baltimore, MD, USA

Jongmoo Choi Department of Computer Science, University of Southern Califor-nia, Los Angeles, CA, USA

Youngjin Choi School of Electrical Engineering, Hanyang University, Ansan,South Korea

Arianna Curioni Department of Cognitive Science, Central European University,Budapest, Hungary

Ashish D. Deshpande Mechanical Engineering, The University of Texas at Austin,Austin, TX, USA

Alexander Dietrich Institute of Robotics and Mechatronics, German AerospaceCenter (DLR), Wessling, Germany

Rüdiger Dillmann High Performance Humanoid Technologies, Institute forAnthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe,Germany

Martin Do High Performance Humanoid Technologies, Institute for Anthropomat-ics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany

Masahiro Doi Advanced Technology Engineering Department, Partner RobotDivision, Toyota Motor Corporation, Toyota, Japan

Christian Dondrup School of Mathematical and Computer Sciences, Heriot-WattUniversity, Edinburgh, UK

J. Maxwell Donelan Department of Biomedical Physiology and Kinesiology,Simon Fraser University, Burnaby, Canada

Evan Drumwright Toyota Research Institute, Los Altos, CA, USA

Florin Dzeladini BioRob, School of Engineering, Institute of Bioengineering,École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland

xxxvi Contributors

Kerstin Eder Department of Computer Science, University of Bristol, Bristol, UK

Oliver Eiberger Institute of Robotics and Mechatronics, German AerospaceCenter (DLR), Wessling, Germany

Johannes Englsberger Institute of Robotics and Mechatronics, GermanAerospace Center (DLR), Wessling, Germany

Adrien Escande CNRS-AIST Joint Robotics Laboratory (JRL), Tsukuba, Japan

Maurice Fallon Oxford Robotics Institute, University of Oxford, Oxford, UK

Robot Perception Group, University of Edinburgh, Edinburgh, UK

David Feil-Seifer Department of Computer Science & Engineering, University ofNevada, Reno, Reno, NV, USA

François Ferland Robotics and Computer Vision Lab, U2IS, ENSTA-ParisTech,Palaiseau Cedex, France

Werner Friedl Institute of Robotics and Mechatronics, German Aerospace Center(DLR), Wessling, Germany

Yasutaka Fujimoto Department of Electrical and Computer Engineering, Yoko-hama National University, Yokohama, Japan

Andre Gaschler fortiss, An-Institut Technische Universität München, München,Germany

Hubert Gattringer Institute of Robotics, Johannes Kepler University, Linz,Austria

Rodolphe Gelin Innovation Department, SoftBank Robotics Europe, Paris, France

Hartmut Geyer Robotics Institute, Carnegie Mellon University, Pittsburgh, PA,USA

Michael Gienger Honda Research Institute Europe GmbH, Offenbach am Main,Germany

Clément Gosselin Department of Mechanical Engineering, Université Laval,Québec, QC, Canada

Ambarish Goswami Intuitive Surgical, Sunnyvale, CA, USA

Markus Grebenstein Department of Mechatronic Components and Systems,Institute of Robotics and Mechatronics, German Aerospace Center (DLR),Wessling, Germany

Jessy W. Grizzle Department of Electrical Engineering and Computer Science,University of Michigan, Ann Arbor, MI, USA

Markus Grotz High Performance Humanoid Technologies, Institute for Anthro-pomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany

Contributors xxxvii

Kensuke Harada Graduate School of Engineering Science, Osaka University,Osaka, Japan

Department of Systems Innovation, Graduate School of Engineering Science, OsakaUniversity, Toyonaka, Japan

Kenji Hashimoto Waseda University, Shinjuku-ku, Tokyo, Japan

Kris Hauser Electrical and Computer Engineering (ECE), Mechanical Engineer-ing and Materials Science (MEMS), Duke University, Durham, NC, USA

Bernd Henze Institute of Robotics and Mechatronics, German Aerospace Center(DLR), Wessling, Germany

Jung-Woo Heo Department of Humanoid Research, Rainbow Robotics, Deajeon,South Korea

Guido Herrmann Department of Mechanical Engineering, University of Bristol,Bristol, UK

Bristol Robotics Laboratory, Joint Facility of the University of the West of Englandand the University of Bristol, Bristol, UK

Andreas Hofmann DOLL Inc., Lexington, MA, USA

MIT CSAIL, Cambridge, MA, USA

Qiang Huang Intelligent Robotics Institute, Beijing Institute of Technology, Bei-jing, China

Marco Hutter Robotic Systems Lab, ETH Zurich, Zurich, Switzerland

Sang-Ho Hyon Department of Robotics, Ritsumeikan University, Shiga, Kusatsu-shi, Japan

Aurélien Ibanez CNRS UMR 7222, Institut des Systèmes Intelligents et deRobotique (ISIR), Sorbonne Universitès, UPMC Univ Paris 06, Paris Cedex 05,France

Auke Ijspeert BioRob, School of Engineering, Institute of Bioengineering, ÉcolePolytechnique Fédérale de Lausanne, Lausanne, Switzerland

Yumeko Imamura CNRS-AIST JRL (Joint Robotics Laboratory) UMI3218/RL,Intelligent Systems Research Institute, Tsukuba, Ibaraki, Japan

Tariq Iqbal Department of Computer Science and Engineering, University ofCalifornia San Diego, La Jolla, CA, USA

Serena Ivaldi Inria, Villers-les-Nancy, France

Intelligent Autonomous Systems Lab, TU Darmstadt, Germany

Giho Jang Department of Mechanical Engineering, University of Nevada, LasVegas, Nevada, USA

xxxviii Contributors

Klaus Janschek Faculty of Electrical and Computer Engineering, Institute ofAutomation, Technische Universität Dresden, Dresden, Germany

Taejin Jung Division of Mechanical Engineering, School of Mechanical,Aerospace & Systems Engineering, KAIST, Daejeon, South Korea

Peter Kaiser High Performance Humanoid Technologies, Institute for Anthropo-matics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany

Shuuji Kajita Humanoid Research Group, Intelligent Systems Research Institute,National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba,Japan

Hiroshi Kaminaga Humanoid Research Group, Intelligent Systems ResearchInstitute, National Institute of Advanced Industrial Science and Technology (AIST),Tsukuba, Ibaraki, Japan

Fumio Kanehiro Humanoid Research Group, National Institute of AdvancedIndustrial Science and Technology (AIST), Ibaraki, Japan

S. G. Khan Department of Mechanical Engineering, College of EngineeringYanbu, Taibah University, Yanbu Branch, Yanbu, Saudi Arabia

Oussama Khatib Robotics Laboratory, Department of Computer Science, Stan-ford University, Stanford, CA, USA

Abderrahmane Kheddar Interactive Digital Human (IDH), CNRS-University ofMontpellier, Montpellier, France

CNRS-AIST Joint Robotics Laboratory (JRL), Tsukuba, Japan

Young J. Kim Department of Computer Science and Engineering, Ewha WomansUniversity, Seoul, South Korea

Jung-Hoon Kim Construction Robot and Automation Laboratory, Department ofCivil and Environmental Engineering, Yonsei University, Seoul, South Korea

Tatsuhiro Kishi Waseda University, Tokyo, Japan

Gunther Knoblich Department of Cognitive Science, Central European Univer-sity, Budapest, Hungary

Alois Knoll fortiss, An-Institut Technische Universität München, München, Ger-many

Twan Koolen Massachusetts Institute of Technology, Cambridge, MA, USA

Hatice Kose Istanbul Technical University, Istanbul, Turkey

Manfred Kröhnert High Performance Humanoid Technologies, Institute forAnthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe,Germany

Contributors xxxix

Dana Kulic Department of Electrical and Computer Engineering, University ofWaterloo, Waterloo, ON, Canada

Jean-Paul Laumond LAAS-CNRS, University of Toulouse, Toulouse, France

Dongheui Lee Department of Electrical and Computer Engineering, TechnicalUniversity of Munich, München, Germany

Institute of Robotics and Mechatronics, German Aerospace Center, We“ling,Germany

In-Ho Lee Division of Mechanical Engineering, School of Mechanical, Aerospace& Systems Engineering, KAIST, Daejeon, South Korea

Jungho Lee Department of Humanoid Research, Rainbow Robotics, Deajeon,South Korea

Sung-Hee Lee Graduate School of Culture Technology, KAIST, Yuseong-gu,Daejeon, Republic of Korea

Hagen Lehmann School of Mathematical and Computer Sciences, Heriot-WattUniversity, Edinburgh, UK

Daniel Leidner Institute of Robotics and Mechatronics, German Aerospace Center(DLR), Wessling, Germany

Ute Leonards School of Experimental Psychology, University of Bristol, Bristol,UK

Bristol Robotics Laboratory, Joint Facility of the University of the West of Englandand the University of Bristol, Bristol, UK

Jeongsoo Lim Department of Humanoid Research, Rainbow Robotics, Deajeon,South Korea

Division of Mechanical Engineering, School of Mechanical, Aerospace & SystemsEngineering, KAIST, Daejeon, South Korea

Ming C. Lin Department of Computer Science, University of North Carolina,Chapel Hill, NC, USA

Libin Liu University of British Columbia, Vancouver, BC, Canada

Katrin Solveig Lohan School of Mathematical and Computer Sciences, Heriot-Watt University, Edinburgh, UK

Sebastian Lohmeier Institute of Applied Mechanics, Technische UniversitätMünchen, Munich, Germany

Qianli Ma Robot and Protein Kinematics Laboratory, Laboratory for Computa-tional Sensing and Robotics, Department of Mechanical Engineering, The JohnsHopkins University, Baltimore, MD, USA

xl Contributors

M. N. Mahyuddin School of Electrical and Electronics Engineering, UniversitiSains Malaysia, Nibong Tebal, Pulau Pinang, Malaysia

Jörn Malzahn Department of Advanced Robotics, Istituto Italiano di Tecnologia,Genoa, Italy

Christian Mandery High Performance Humanoid Technologies, Institute forAnthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Ger-many

Dinesh Manocha Department of Computer Science, University of North Carolina,Chapel Hill, NC, USA

Christopher McQuin Motiv Space Systems, San Francisco, CA, USA

Gustavo Medrano Cerda Istituto Italiano di Tecnologia (IIT-Genova), AdvancedRobotics, Genova, Italy

Thomas Mergner Neurology, University Clinics, Freiburg, Breisgau, Germany

Giorgio Metta iCub Facility, Istituto Italiano di Tecnologia, Genova, Italy

Blanca Miller Department of Computer Science & Engineering, University ofNevada, Reno, Reno, NV, USA

Katja Mombaur Optimization, Robotics and Biomechanics (ORB), Institute ofComputer Engineering (ZITI), University of Heidelberg, Heidelberg, Germany

Federico L. Moro Institute of Industrial Technologies and Automation (ITIA),National Research Council (CNR) of Italy, Milano, Italy

Andreas Mueller Institute of Robotics, Johannes Kepler University, Linz, Austria

Akihiko Murai Digital Human Research Group, National Institute of AdvancedIndustrial Science and Technology (AIST), Tokyo, Japan

Kenichiro Nagasaka Motion Control Technology Development Department,Innovative Technology Development Division, System R&D Group, R&D Platform,Sony Corporation, Tokyo, Japan

Yuichiro Nakajima Planning & Administration Department, Partner Robot Divi-sion, Toyota Motor Corporation, Toyota, Japan

Lorenzo Natale iCub Facility, Istituto Italiano di Tecnologia, Genova, Italy

Gabe Nelson Boston Dynamics, Waltham, MA, USA

Dragomir Nenchev Department of Mechanical Systems Engineering, Tokyo CityUniversity, Tokyo, Japan

Tatsuya Nomura Department of Media Informatics, Faculty of Science andTechnology, Ryukoku University, Otsu, Shiga, Japan

Francesco Nori iCub Facility, Robotics, Brain and Cognitive Sciences Depart-ment, Istituto Italiano di Tecnologia, Genoa, Italy

Contributors xli

Tetsuya Ogata Department of Intermedia Art and Science, Faculty of Science andEngineering, Waseda University, Tokyo, Japan

Jun-Ho Oh Division of Mechanical Engineering, School of Mechanical,Aerospace & Systems Engineering, KAIST, Daejeon, South Korea

Yonghwan Oh Center for Robotics Research, Korea Institute of Science andTechnology (KIST), Seoul, South Korea

Christian Ott Institute of Robotics and Mechatronics, German Aerospace Center(DLR), Wessling, Germany

Robotics and Mechatronics Center (RMC), Wessling, Germany

Vincent Padois CNRS UMR 7222, Institut des Systèmes Intelligents et deRobotique (ISIR), Sorbonne Universitès, UPMC Univ Paris 06, Paris Cedex 05,France

Amit Kumar Pandey Innovation Department, SoftBank Robotics Europe, Paris,France

Jong Hyeon Park Mechatronics Lab, School of Mechanical Engineering, HanyangUniversity, Seoul, South Korea

Nicolas Perrin Sorbonne Universités, UPMC Univ Paris 06, CNRS, Institut desSystèmes Intelligents et de Robotique (ISIR), Paris, France

Robert J. Peterka Department of Oregon Health & Science University, Corvallis,OR, USA

National Center for Rehabilitative Auditory Research, VA Portland Health CareSystem, Portland, OR, USA

Robert Playter Boston Dynamics, Waltham, Massachusetts, USA

Dilip Kumar Pratihar Department of Mechanical Engineering, Indian Institute ofTechnology, Kharagpur, West Bengal, India

Jerry E. Pratt Institute for Human and Machine Cognition, Pensacola, FL, USA

Nicolaus Radford Houston Mechatronics, Inc., Kemah, TX, USA

Rega Rajendra Department of Mechanical Engineering, Indian Institute of Tech-nology, Kharagpur, West Bengal, India

V. Pandu Ranga Department of Mechanical Engineering, Indian Institute ofTechnology, Kharagpur, West Bengal, India

Francesco Rea Istituto Italiano di Tecnologia, Genoa, Italy

Markus Rickert fortiss, An-Institut Technische Universität München, München,Germany

Laurel D. Riek Department of Computer Science and Engineering, University ofCalifornia San Diego, La Jolla, CA, USA

xlii Contributors

Máximo A. Roa Institute of Robotics and Mechatronics, German AerospaceCenter (DLR), Wessling, Germany

Soroush Sadeghnejad Mechanical Engineering Department, Amirkabir Univer-sity of Technology (Tehran Polytechnic), Tehran, Iran

Giulio Sandini Department of Robotics, Brain and Cognitive Sciences, IstitutoItaliano di Tecnologia, Genoa, Italy

Uluc Saranli Department of Computer Engineering, Middle East Technical Uni-versity, Balgat, Ankara, Turkey

Aaron Saunders Boston Dynamics, Waltham, MA, USA

Brian Scassellati Computer Science & Mechanical Engineering & MaterialsScience, Yale University, New Haven, CT, USA

Stefan Schaal Max-Planck-Institute for Intelligent Systems, Tübingen, Germany

Computer Science, University of Southern California, Los Angeles, CA, USA

Florian Schmidt Institute of Robotics and Mechatronics, German AerospaceCenter (DLR), Wessling, Germany

Alessandra Sciutti Istituto Italiano di Tecnologia, Genoa, Italy

Natalie Sebanz Department of Cognitive Science, Central European University,Budapest, Hungary

Luis Sentis Human Centered Robotics Laboratory, The University of Texas atAustin, Austin, TX, USA

André Seyfarth Locomotion Laboratory, Institute of Sport Science, TechnicalUniversity of Darmstadt, Darmstadt, Hesse, Germany

Taher Abbas Shangari Bio-Inspired System Design Lab, Amirkabir University ofTechnology (Tehran Polytechnic), Tehran, Iran

Satoshi Shigemi Honda R&D Co., Ltd., Wako-shi, Saitama, Japan

Bruno Siciliano Department of Electrical Engineering and Information Technol-ogy, University of Naples Federico II, Naples, Italy

Steven “Mouse” Silverstein Walt Disney Parks and Resorts, U.S. Inc., LakeBuena Vista, FL, USA

Fraser Smith Sarcos Corp., Salt Lake City, UT, USA

Manish Sreenivasa Optimization, Robotics & Biomechanics, Institute of Com-puter Engineering, Heidelberg University, Heidelberg, Germany

Olivier Stasse Gepetto TEAM, LAAS-CNRS, Toulouse, France

Jochen J. Steil Institute for Robotics and Process Control, Technische UniversitätBraunschweig, Braunschweig, Germany

Contributors xliii

Tomomichi Sugihara Department of Adaptive Machine Systems, GraduateSchool of Engineering, Osaka University, Suita/Osaka, Japan

Tim Swift Roam Robotics, San Francisco, CA, USA

Atsuo Takanishi Department of Modern Mechanical Engineering, Waseda Uni-versity, Shinjuku-ku, Tokyo, Japan

Takayuki Tanaka Graduate School of Information Science and Technology,Hokkaido University, Sapporo, Japan

Tadahiro Taniguchi Department of Information Science and Engineering, Rit-sumeikan University, Kusatsu, Shiga, Japan

Adriana Tapus Robotics and Computer Vision Lab, U2IS, ENSTA-ParisTech,Palaiseau Cedex, France

William T. Townsend Advanced Robot Arms and Hands, Barrett Technology,Newton, MA, USA

Silvio Traversaro iCub Facility, Robotics, Brain and Cognitive Sciences Depart-ment, Istituto Italiano di Tecnologia, Genoa, Italy

Jeffrey C. Trinkle National Robotics Initiative, The National Science Foundation,Arlington, VA, USA

Nikos G. Tsagarakis Istituto Italiano di Tecnologia (IIT-Genova), Humanoids &Human Centred Mechatronics, Genoa, Italy

Barkan Ugurlu Department of Mechanical Engineering, Ozyegin University,Istanbul, Turkey

Nikolaus Vahrenkamp High Performance Humanoid Technologies, Institute forAnthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Ger-many

Michiel van de Panne University of British Columbia, Vancouver, BC, Canada

Gentiane Venture Department of Mechanical Systems Engineering, Tokyo Uni-versity of Agriculture and Technology, Tokyo, Japan

Mirko Wächter High Performance Humanoid Technologies, Institute for Anthro-pomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany

Alexander Werner Institute of Robotics and Mechatronics, German AerospaceCenter (DLR), Wessling, Germany

Pierre-Brice Wieber Grenoble – Rhône-Alpes Research Centre, INRIA,Montbonnot-Saint-Martin, Rhone-Alpes, France

Jeremy D. Wong Human Performance Laboratory, Department of Kinesiology,University of Calgary, Calgary, AB, Canada

Ko Yamamoto Department of Mechanical Engineering, University of Tokyo,Tokyo, Japan

xliv Contributors

Katsu Yamane Disney Research, Pittsburgh, PA, USA

John Yamokoski Director of Research and Development, Houston Mechatronics,Inc., Houston, TX, USA

KangKang Yin Department of Computer Science, National University of Singa-pore, Singapore, Singapore

Eiichi Yoshida CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/RL,National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba,Ibaraki, Japan

Riadh Zaier Department of Mechanical and Industrial Engineering, College ofEngineering, Sultan Qaboos University, Al Khod, Muscat, Sultanate of Oman

Si Zhang Intelligent Robotics Institute, Beijing Institute of Technology, Beijing,China