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      \field{booktitle}{2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)}
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      \field{abstract}{This paper introduces the design and development of a novel pressure-sensitive foot insole for real-time monitoring of plantar pressure distribution during walking. The device consists of a flexible insole with 64 pressure-sensitive elements and an integrated electronic board for high-frequency data acquisition, pre-filtering, and wireless transmission to a remote data computing/storing unit. The pressure-sensitive technology is based on an optoelectronic technology developed at Scuola Superiore Sant’Anna. The insole is a low-cost and low-power battery-powered device. The design and development of the device is presented along with its experimental characterization and validation with healthy subjects performing a task of walking at different speeds, and benchmarked against an instrumented force platform.}
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      \field{abstract}{In order to achieve higher adaptability, the control strategy based on walking sequence adjustment for accommodating unexpected slope terrains in bipedal walking is proposed in this paper, which consists of the Zero-Moment-Point (ZMP) tracking control, foot landing control, posture \&yaw control. In our previous work, the 3-D walking sequences (WS) were defined and the online walking pattern generation based on the modified minimal orbit energy control (MMOEC) was realized. In this paper, utilizing the sensory reflex, the walking status is estimated and walking modes are judged when walking on slope terrains. Then, considering the stability and feasibility constraints, the real-time WS adjustment strategies for different walking modes are proposed. For the stabilization control, combining the modified preview control with the MMOEC by the angle coefficient, the ZMP generation and tracking control is first realized. Besides, the foot landing control is also adopted to reduce the impact force and accommodate the unknown terrain. With the posture control and yaw reduction, the stable biped walking on slopes terrains are realized, without a priori information.}
      \field{issn}{1573-0409}
      \field{journaltitle}{Journal of Intelligent \& Robotic Systems}
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      \field{title}{Walking Stabilization Control for Humanoid Robots on Unknown Slope Based on Walking Sequences Adjustment}
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      \field{year}{2018}
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      \field{journaltitle}{2013 IEEE/RSJ International Conference on Intelligent Robots and Systems}
      \field{title}{{Three-dimensional bipedal walking control using Divergent Component of Motion}}
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      \field{booktitle}{2014 IEEE-RAS International Conference on Humanoid Robots}
      \field{title}{Drift-free humanoid state estimation fusing kinematic, inertial and LIDAR sensing}
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      \field{journaltitle}{International Journal of Humanoid Robotics}
      \field{number}{03}
      \field{title}{Human-Like Gait Adaptation to Slippery Surfaces for the NAO Robot Wearing Instrumented Shoes}
      \field{volume}{17}
      \field{year}{2020}
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      \field{title}{{Introduction to humanoid robotics}}
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      \field{title}{{The 3D linear inverted pendulum mode: a simple modeling for a biped walking pattern generation}}
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      \field{journaltitle}{Journal of Intelligent and Robotic Systems}
      \field{title}{{Survey of intelligent control techniques for humanoid robots}}
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      \field{journaltitle}{IEEE Robotics and Automation Letters}
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      \field{title}{{Optimal gait planning for humanoids with 3d structure walking on slippery surfaces}}
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      \field{journaltitle}{IEEE Sensors Journal}
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      \field{number}{3}
      \field{title}{{Multi-Axis Force-Torque Sensors for Measuring Zero-Moment Point in Humanoid Robots: A Review}}
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      \field{abstract}{Humanoid robot dynamic walking is seriously affected by the initial home posture (walking ready posture). If the initial home posture is not accurate, the robot may fall down during walking despite using robust walking control algorithm. Moreover, the initial home posture of a real physical robot is slightly different at every setting because the zero position of the joint is not exactly the same. Therefore, an accurate and consistent initial home posture is essential when we compare and analyze walking control algorithms. In order to find a zero position, an incremental encoder with a limit switch or an absolute encoder such as a potentiometer can generally be used. However, the initial calibration of this method for a multi-axis humanoid robot that enables the desired initial sensor signal is difficult and time-consuming. Furthermore, it has the disadvantage that additional limit switches or absolute encoders can interfere with the design objective of compactness. Therefore, this paper describes a novel adjustment method of the home posture for a biped humanoid robot utilizing incremental encoders, an inertial sensor and force torque sensors. Four kinds of controllers are proposed for the adjustment of the home posture and adjusted offsets are measured when the outputs of the controllers have converged. Experimental results from KHR-2 show the effectiveness of the proposed adjustment algorithm.}
      \field{issn}{1573-0409}
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      \field{title}{{Adjustment of Home Posture of Biped Humanoid Robot Using Sensory Feedback Control}}
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      \field{journaltitle}{Journal of Intelligent {\&} Robotic Systems}
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      \field{number}{3}
      \field{title}{{Whole-Body Control and Angular Momentum Regulation using Torque sensors for Quadrupedal Robots}}
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      \field{journaltitle}{IEEE Sensors Journal}
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      \field{title}{{Bi-LSTM Network for Multimodal Continuous Human Activity Recognition and Fall Detection}}
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      \field{year}{2020}
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      \field{journaltitle}{Journal of Mechanics in Medicine and Biology}
      \field{number}{08}
      \field{title}{Mobile Robot Motor Bearing Fault Detection and Classification on Discrete Wavelet Transform and LSTM Network}
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      \field{year}{2018}
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    \entry{li_sequential_2021}{article}{}
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        {{hash=121007037088b60820d59f02494d82c3}{%
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           family={Chang},
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      \field{abstract}{This study proposes a real-time sequential sensor fusion based gait pattern controller. During the walking cycle, the sensor data is analyzed and obtained by several inertial measurement units (IMUs) and pressure sensors on the robot. Besides, in order to model the correction values of the walking parameters, this approach applies long short-term memory (LSTM) to build a feedback system for a bipedal humanoid robot. For training the network, four sequential features including two-direction Center of Pressure (CoP) and two-direction acceleration are acquired by using pressure sensors and IMUs on the robot. While these features are mapped to the network inputs, the network output is mapped by the optimal solutions generated using particle swarm optimization (PSO). The proposed LSTM feedback network comprises four layers. The effect of the proposed methodology is first tested in a robot simulation environment and then tested on a real bipedal humanoid robot. The experimental results demonstrate that this methodology can make the humanoid robot perform better than when using a fixed gait. It also provides self-adjustment capability to the robot to enable it to avoid situations like falling.}
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      \field{journaltitle}{IEEE Sensors Journal}
      \field{month}{1}
      \field{number}{2}
      \field{title}{{Sequential sensor Fusion-Based Real-Time LSTM Gait Pattern Controller for Biped Robot}}
      \field{volume}{21}
      \field{year}{2021}
      \field{pages}{2241\bibrangedash 2255}
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    \entry{li_cnn_2019}{article}{}
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        {{hash=7e6167f77c859518d647f6070e45f0d1}{%
           family={Kuo},
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        {{hash=9aa913c0502d14e0d1474993d8e23a4a}{%
           family={Tsai},
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        {{hash=121007037088b60820d59f02494d82c3}{%
           family={Luan},
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      \field{abstract}{Robots must be able to recognize human emotions to improve the human–robot interaction (HRI). This study proposes an emotion recognition system for a humanoid robot. The robot is equipped with a camera to capture users' facial images, and it uses this system to recognize users' emotions and responds appropriately. The emotion recognition system, based on a deep neural network, learns six basic emotions: happiness, anger, disgust, fear, sadness, and surprise. First, a convolutional neural network (CNN) is used to extract visual features by learning on a large number of static images. Second, a long short-term memory (LSTM) recurrent neural network is used to determine the relationship between the transformation of facial expressions in image sequences and the six basic emotions. Third, CNN and LSTM are combined to exploit their advantages in the proposed model. Finally, the performance of the emotion recognition system is improved by using transfer learning, that is, by transferring knowledge of related but different problems. The performance of the proposed system is veriﬁed through leave-one-out cross-validation and compared with that of other models. The system is applied to a humanoid robot to demonstrate its practicability for improving the HRI.}
      \field{issn}{2169-3536}
      \field{journaltitle}{IEEE Access}
      \field{title}{{CNN and LSTM Based Facial Expression Analysis Model for a Humanoid Robot}}
      \field{volume}{7}
      \field{year}{2019}
      \field{pages}{93998\bibrangedash 94011}
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    \entry{lin2021legged}{inproceedings}{}
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      \field{booktitle}{5th Annual Conference on Robot Learning}
      \field{title}{{Legged robot state estimation using invariant kalman filtering and learned contact events}}
      \field{year}{2021}
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      \field{abstract}{Measurement of the ground reaction force vector is important in clinical gait analysis and biomechanics research, for example to enable inverse dynamic calculations. Instrumented insoles allow biomechanical data to be collected outside of the motion analysis laboratory in many environments. However, current insole-based approaches typically measure only the vertical component of the reaction force and the plantar center of pressure. This work describes the development and evaluation of a silicone insole capable of measuring the complete three dimensional reaction force vector. The insole is optically based and low-cost with no complex manufacturing requirements. Accuracy over five nominal gait trails is shown to be on the order of 10{\%} of the force range, with mean errors of 10.7 N in the shear directions and 68.1 N in normal. The insole can provide a simple mobile platform that allows kinetic gait data to be collected in many environments while minimally affecting the wearer's gait.}
      \field{isbn}{9781457711992}
      \field{issn}{21551774}
      \field{journaltitle}{Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics}
      \field{title}{{An elastomeric insole for 3-axis ground reaction force measurement}}
      \field{year}{2012}
      \field{pages}{1512\bibrangedash 1517}
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      \keyw{Micro/nano technologies in medicine and biology,Rehabilitation and assistive robotics,Wearable assistive and augmenting devices}
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           given={V},
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      \field{booktitle}{2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)}
      \field{title}{{Bidirectional LSTM-based Network for Fall Prediction in a Humanoid}}
      \field{year}{2020}
      \field{pages}{129\bibrangedash 135}
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      \field{journaltitle}{J. Field Robotics}
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      \field{booktitle}{2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)}
      \field{title}{Kinematics-based estimation of contact constraints using only proprioception}
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      \field{booktitle}{2011 11th IEEE-RAS International Conference on Humanoid Robots}
      \field{title}{Posture and balance control for biped robots based on contact force optimization}
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      \field{abstract}{We propose an optoelectronic force sensor based insole type ground reaction force (GRF) measurement system, which can be used to measure the absolute GRFs produced by the user. Although force sensitivity resistors (FSR) has been widely used to measure the GRFs, they provide only the relative weight of the user. Accurate measurement of GRFs is essential to control robotic devices, such as lower-limb exoskeleton and prosthesis and to make a diagnosis for gait abnormality. To validate the performance of the developed insole type GRF measurement system, we measured GRFs during level ground walking and compared the results with FSRs. For measured GRFs, the GRF data from our system was identical compared with that from a force plate, but the GRF data from FSRs was saturated due to capacity of FSR ({\~}450N). Our insole type measurement system provided the absolute GRFs in walking.}
      \field{isbn}{9781509008216}
      \field{journaltitle}{2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016}
      \field{title}{{Custom optoelectronic force sensor based ground reaction force (GRF) measurement system for providing absolute force}}
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      \field{year}{2016}
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      \keyw{Force sensitivity resistor (FSR),Ground reaction force (GRF),Optoelectronic force sensor}
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      \field{booktitle}{2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}
      \field{title}{Outlier-Robust State Estimation for Humanoid Robots}
      \field{year}{2019}
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      \field{abstract}{This paper contributes toward the benchmarking of control architectures for bipedal robot locomotion. It considers architectures that are based on the Divergent Component of Motion (DCM) and composed of three main layers: trajectory optimization, simplified model control, and whole-body quadratic programming (QP) control layer. While the first two layers use simplified robot models, the whole-body QP control layer uses a complete robot model to produce either desired positions, velocities, or torques inputs at the joint-level. This paper then compares two implementations of the simplified model control layer, which are tested with position, velocity, and torque control modes for the whole-body QP control layer. In particular, both an instantaneous and a Receding Horizon controller are presented for the simplified model control layer. We show also that one of the proposed architectures allows the humanoid robot iCub to achieve a forward walking velocity of 0.3372m/s, which is the highest walking velocity achieved by the iCub robot.}
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      \field{abstract}{Development of a planar biped robot is currently underway at Yeditepe University. The robot consists of lower extremities with a torso that are designed at anthropomorphic dimensions. This study describes the design and testing of a foot contact sensor for the biped robot. Dynamic stability of a biped robot is commonly measured by the zero moment point (ZMP) method. Experimentally, ZMP is measured by multi-component force/torque sensors. Due to their low cost and ease of use, force sensitive resistors (FSR) are used to build a foot contact sensor for the biped robot. Four FSRs are mounted at the corners of the robot's foot to measure the ground reaction force and its moment. Hence, by utilizing the data from the foot contact sensors, a real-time ZMP computation scheme can be implemented. The performance of the designed foot contact sensor is presented by numerical simulations of a planar biped robot's postural stability control. Results indicate that reaction force computation by the FSR based force sensors is a viable method to monitor postural stability of biped robots. Force sensors and their electronics are currently being built to be used for the actual tests. {©}2010 by ASME.}
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      \field{abstract}{One of the most interesting and pressing challenges in the study on biped humanoid robots is to achieve high robustness in locomotion. This paper presents a brief overview of work and methods on robust walking and running for bipedal robots. So far, many robust walking methods have been proposed to reject terrain disturbances and impulsive force disturbances. The applications of the proposed methods to real robots improve the robustness and adaptivity of robots by large margin. Up to now, bipedal robots can traverse unknown terrains with ground variation exceeding 20{\%} of leg length. The height of obstacles increases more than threefold compared to decades ago. With regards to unexpected external force, bipedal robots can recover the balance from sudden push not only at stationary state, but also during the walk. On the other hand, the biped running is underdeveloped compared to the robust walking. Still the highest running speed is less than 3.0 m/s, not to mention the poor robustness to large disturbances.}
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      \field{journaltitle}{IEEE Robotics and Automation Letters}
      \field{number}{4}
      \field{title}{{Estimating CoP Trajectories and Kinematic Gait Parameters in Walking and Running Using Instrumented Insoles}}
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      \field{year}{2017}
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      \field{abstract}{Tactile sensing is essential to the human perception system, so as to robot. In this paper, we develop a novel optical-based tactile sensor “FingerVision” with effective signal processing algorithms. This sensor is composed of soft skin with embedded marker array bonded to rigid frame, and a web camera with a ﬁsheye lens. While being excited with contact force, the camera tracks the movements of markers and deformation ﬁeld is obtained. Compared to existing tactile sensors, our sensor features compact footprint, high resolution, and ease of fabrication. Besides, utilizing the deformation ﬁeld estimation, we propose a slip classiﬁcation framework based on convolution Long Short Term Memory (convolutional LSTM) networks. The data collection process takes advantage of the human sense of slip, during which human hand holds 12 daily objects, interacts with sensor skin and labels data with a slip or non-slip identity based on human feeling of slip. Our slip classiﬁcation framework performs high accuracy of 97.62{\%} on the test dataset. It is expected to be capable of enhancing the stability of robot grasping signiﬁcantly, leading to better contact force control, ﬁner object interaction and more active sensing manipulation.}
      \field{annotation}{Comment: 7 pages, 7 figures, submitted to ICRA2019 arXiv: 1810.02653}
      \field{journaltitle}{arXiv:1810.02653 [cs]}
      \field{month}{10}
      \field{title}{{FingerVision Tactile Sensor Design and Slip Detection Using Convolutional LSTM Network}}
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      \keyw{Computer Science - Robotics,Computer Science - Machine Learning}
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    \entry{zhao2018collaborative}{inproceedings}{}
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      \field{booktitle}{2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)}
      \field{title}{Collaborative Human-Robot Motion Generation Using LSTM-RNN}
      \field{year}{2018}
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      \field{abstract}{Gait phase detection is a new biometric method which is of great signiﬁcance in gait correction, disease diagnosis, and exoskeleton assisted robots. Especially for the development of bone assisted robots, gait phase recognition is an indispensable key technology. In this study, the main characteristics of the gait phases were determined to identify each gait phase. A long short-term memory-deep neural network (LSTM-DNN) algorithm is proposed for gate detection. Compared with the traditional threshold algorithm and the LSTM, the proposed algorithm has higher detection accuracy for diﬀerent walking speeds and diﬀerent test subjects. During the identiﬁcation process, the acceleration signals obtained from the acceleration sensors were normalized to ensure that the diﬀerent features had the same scale. Principal components analysis (PCA) was used to reduce the data dimensionality and the processed data were used to create the input feature vector of the LSTM-DNN algorithm. Finally, the data set was classiﬁed using the Softmax classiﬁer in the full connection layer. Diﬀerent algorithms were applied to the gait phase detection of multiple male and female subjects. The experimental results showed that the gait-phase recognition accuracy and F-score of the LSTM-DNN algorithm are over 91.8{\%} and 92{\%}, respectively, which is better than the other three algorithms and also veriﬁes the eﬀectiveness of the LSTM-DNN algorithm in practice.}
      \field{issn}{1999-4893}
      \field{journaltitle}{Algorithms}
      \field{month}{11}
      \field{number}{12}
      \field{title}{{Walking Gait Phase Detection Based on Acceleration Signals Using LSTM-DNN Algorithm}}
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      \field{year}{2019}
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      \field{journaltitle}{Applied Sciences}
      \field{title}{{SURF-BRISK–Based Image Infilling Method for Terrain Classification of a Legged Robot}}
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