2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)最新文献

Stiffness evaluation of a tendon-driven robot with variable joint stiffness mechanisms 具有可变关节刚度机构的肌腱驱动机器人的刚度评估

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-12-22 DOI: 10.1109/HUMANOIDS.2017.8246877

Yuki Matsutani, K. Tahara, H. Kino, Hiroaki Ochi

引用次数: 2

Investigations of viscoelastic liquid cooled actuators applied for dynamic motion control of legged systems 粘弹性液冷作动器在足式系统动态运动控制中的应用研究

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-12-22 DOI: 10.1109/HUMANOIDS.2017.8246950

Donghyun Kim, Orion Campbell, Junhyeok Ahn, L. Sentis, N. Paine

引用次数: 5

Optimal and robust walking using intrinsic properties of a series-elastic robot 基于系列弹性机器人固有特性的最优鲁棒行走

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-17 DOI: 10.1109/HUMANOIDS.2017.8239549

Alexander Werner, Bernd Henze, F. Loeffl, S. Leyendecker, C. Ott

引用次数: 6

Tilt estimator for 3D non-rigid pendulum based on a tri-axial accelerometer and gyrometer 基于三轴加速度计和陀螺仪的三维非刚性摆倾斜估计器

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-17 DOI: 10.1109/HUMANOIDS.2017.8246968

M. Benallegue, A. Benallegue, Y. Chitour

引用次数: 10

Post-impact adaptive compliance for humanoid falls using predictive control of a reduced model 使用简化模型预测控制的仿人跌倒后冲击自适应顺应性

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-15 DOI: 10.1109/HUMANOIDS.2017.8246942

V. Samy, Stéphane Caron, Karim Bouyarmane, A. Kheddar

引用次数: 24

Adaptive whole-body manipulation in human-to-humanoid multi-contact motion retargeting 人-人形多接触运动重定向的自适应全身操作

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-15 DOI: 10.1109/HUMANOIDS.2017.8246911

K. Otani, Karim Bouyarmane

{"title":"Adaptive whole-body manipulation in human-to-humanoid multi-contact motion retargeting","authors":"K. Otani, Karim Bouyarmane","doi":"10.1109/HUMANOIDS.2017.8246911","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2017.8246911","url":null,"abstract":"We propose a controller for loco-manipulation motion retargeting from a human to a humanoid robot. Using this controller, the robot can track complex motions and automatically adapt to elements in the environment that have different physical properties from those that were used to provide the human's reference motion. The multi-contact loco-manipulation problem is formulated as a multi-robot quadratic program (MRQP), which optimizes over the combined dynamics of the robot and any manipulated element in the environment. Our approach maintains a dynamic partition of the robot's tracking links into fixed support contact links, manipulation contact links, and contact-free tracking links. The three sets are repartitioned and re-instantiated as objectives or constraints in the MRQP when contact events occur in the human motion. We present various experiments (bag retrieval, door opening, box lifting) using human motion data from an Xsens inertial motion capture system. We show in dynamics simulation that the robot is able to perform difficult single-stance motions as well as multi-contact-stance motions (including hand supports), while adapting to environment elements of varying inertial properties.","PeriodicalId":143992,"journal":{"name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127015016","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 17

Model predictive control of biped walking with bounded uncertainties 具有有界不确定性的双足行走模型预测控制

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-15 DOI: 10.1109/HUMANOIDS.2017.8246969

N. Villa, Pierre-Brice Wieber

{"title":"Model predictive control of biped walking with bounded uncertainties","authors":"N. Villa, Pierre-Brice Wieber","doi":"10.1109/HUMANOIDS.2017.8246969","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2017.8246969","url":null,"abstract":"A biped walking controller for humanoid robots has to handle together hard constraints, dynamic environments, and uncertainties. Model Predictive Control (MPC) is a suitable and widely used control method to handle the first two issues. Uncertainties on the robot imply a non-zero tracking error when trying to follow a reference motion. A standard solution for this issue is to use tighter constraints by introducing some hand tuned safety margins, for the reference motion generation to ensure that the actual robot motion will satisfy all constraints even in presence of the tracking error. In this article, we find bounds for the tracking error and we show how such safety margins can be precisely computed from the tracking error bounds. Also, a tracking control gain is proposed to reduce the restrictiveness introduced with the safety margins. MPC with these considerations ensure the correct operation of the biped robot under a given degree of uncertainties when it is implemented in open-loop. Nevertheless, the straightforward way to implement an MPC closed-loop scheme fails. We discuss the reasons for this failure and propose a robust closed-loop MPC scheme.","PeriodicalId":143992,"journal":{"name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133174591","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 19

Collision avoidance based on separating planes for feet trajectory generation 基于分离平面的足部轨迹生成避碰

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-15 DOI: 10.1109/HUMANOIDS.2017.8246920

Stanislas Brossette, Pierre-Brice Wieber

引用次数: 11

Upper limb redundancy resolution under gravitational loading conditions: Arm postural stability index based on dynamic manipulability analysis 重力载荷条件下上肢冗余度分辨率:基于动态可操纵性分析的臂位稳定性指标

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-15 DOI: 10.1109/HUMANOIDS.2017.8246894

Yang Shen, Brandon Po-Yun Hsiao, Ji Ma, J. Rosen

{"title":"Upper limb redundancy resolution under gravitational loading conditions: Arm postural stability index based on dynamic manipulability analysis","authors":"Yang Shen, Brandon Po-Yun Hsiao, Ji Ma, J. Rosen","doi":"10.1109/HUMANOIDS.2017.8246894","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2017.8246894","url":null,"abstract":"Resistance training may be considered as one promising approach for improving the motor capabilities of post-stroke patients. A successful introduction of this depends on the proper resolution of human arm redundancy under gravitational loading. The spatially heterogeneous changes of the human arm swivel angle (which represents the upper limb redundancy) are studied under different loading conditions, the effects of which are incorporated into a modified dynamic manipulability ellipsoid model. A new scalar index describing the arm postural stability (APSI) is then proposed. As part of the experimental protocol, ten (10) healthy subjects performed multiple reaching tasks with different weights mounted on the forearm. Kinematic data was collected via a ten-camera motion capture system and the corresponding APSI was calculated for each task. APSI is found to have a strong linear correlation with the swivel angle under loading conditions. Furthermore, the data suggest that the swivel angle may serve as an indicator of arm postural stability and task difficulty. The results of additional experiments conducted with three (3) subjects indicate that the external loads could deteriorate the arm's control performance in tasks like line tracing (root mean square deviation from straight lines). These findings may be applicable to robot-based (exoskeleton) resistance therapy, assist-as-needed gravity compensation, and human-like motion control of humanoid robotic systems.","PeriodicalId":143992,"journal":{"name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123285945","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 7

TALOS: A new humanoid research platform targeted for industrial applications TALOS:面向工业应用的新型人形研究平台

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-15 DOI: 10.1109/HUMANOIDS.2017.8246947

O. Stasse, T. Flayols, Rohan Budhiraja, Kevin Giraud-Esclasse, Justin Carpentier, Joseph Mirabel, A. Prete, P. Souéres, N. Mansard, F. Lamiraux, J. Laumond, Luca Marchionni, H. Tome, F. Ferro

{"title":"TALOS: A new humanoid research platform targeted for industrial applications","authors":"O. Stasse, T. Flayols, Rohan Budhiraja, Kevin Giraud-Esclasse, Justin Carpentier, Joseph Mirabel, A. Prete, P. Souéres, N. Mansard, F. Lamiraux, J. Laumond, Luca Marchionni, H. Tome, F. Ferro","doi":"10.1109/HUMANOIDS.2017.8246947","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2017.8246947","url":null,"abstract":"The upcoming generation of humanoid robots will have to be equipped with state-of-the-art technical features along with high industrial quality, but they should also offer the prospect of effective physical human interaction. In this paper we introduce a new humanoid robot capable of interacting with a human environment and targeting industrial applications. Limitations are outlined and used together with the feedback from the DARPA Robotics Challenge, and other teams leading the field in creating new humanoid robots. The resulting robot is able to handle weights of 6 kg with an out-stretched arm, and has powerful motors to carry out fast movements. Its kinematics have been specially designed for screwing and drilling motions. In order to make interaction with human operators possible, this robot is equipped with torque sensors to measure joint effort and high resolution encoders to measure both motor and joint positions. The humanoid robotics field has reached a stage where robustness and repeatability is the next watershed. We believe that this robot has the potential to become a powerful tool for the research community to successfully navigate this turning point, as the humanoid robot HRP-2 was in its own time.","PeriodicalId":143992,"journal":{"name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134260704","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 110