2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)最新文献_第10页

Compositional autonomy for humanoid robots with risk-aware decision-making 具有风险感知决策的类人机器人组合自主

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8246927

X. Long, P. Long, T. Padır

引用次数: 3

Robots learning from robots: A proof of concept study for co-manipulation tasks 机器人向机器人学习:协同操作任务的概念验证研究

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8246916

L. Peternel, A. Ajoudani

引用次数: 5

Gaze and filled pause detection for smooth human-robot conversations 凝视和填充暂停检测平滑的人机对话

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8246889

Miriam Bilac, Marine Chamoux, Angelica Lim

{"title":"Gaze and filled pause detection for smooth human-robot conversations","authors":"Miriam Bilac, Marine Chamoux, Angelica Lim","doi":"10.1109/HUMANOIDS.2017.8246889","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2017.8246889","url":null,"abstract":"Let the human speak! Interactive robots and voice interfaces such as Pepper, Amazon Alexa, and OK Google are becoming more and more popular, allowing for more natural interaction compared to screens or keyboards. One issue with voice interfaces is that they tend to require a “robotic” flow of human speech. Humans must be careful to not produce disfluencies, such as hesitations or extended pauses between words. If they do, the agent may assume that the human has finished their speech turn, and interrupts them mid-thought. Interactive robots often rely on the same limited dialogue technology built for speech interfaces. Yet humanoid robots have the potential to also use their vision systems to determine when the human has finished their speaking turn. In this paper, we introduce HOMAGE (Human-rObot Multimodal Audio and Gaze End-of-turn), a multimodal turntaking system for conversational humanoid robots. We created a dataset of humans spontaneously hesitating when responding to a robot's open-ended questions such as, “What was your favorite moment this year?”. Our analyses found that users produced both auditory filled pauses such as “uhhh”, as well as gaze away from the robot to keep their speaking turn. We then trained a machine learning system to detect the auditory filled pauses and integrated it along with gaze into the Pepper humanoid robot's real-time dialog system. Experiments with 28 naive users revealed that adding auditory filled pause detection and gaze tracking significantly reduced robot interruptions. Furthermore, user turns were 2.1 times longer (without repetitions), suggesting that this strategy allows humans to express themselves more, toward less time pressure and better robot listeners.","PeriodicalId":143992,"journal":{"name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121882545","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: 9

Real-time evolutionary model predictive control using a graphics processing unit 使用图形处理单元的实时进化模型预测控制

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8246929

Phillip Hyatt, Marc D. Killpack

{"title":"Real-time evolutionary model predictive control using a graphics processing unit","authors":"Phillip Hyatt, Marc D. Killpack","doi":"10.1109/HUMANOIDS.2017.8246929","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2017.8246929","url":null,"abstract":"With humanoid robots becoming more complex and operating in un-modeled or human environments, there is a growing need for control methods that are scalable and robust, while still maintaining compliance for safety reasons. Model Predictive Control (MPC) is an optimal control method which has proven robust to modeling error and disturbances. However, it can be difficult to implement for high degree of freedom (DoF) systems due to the optimization problem that must be solved. While evolutionary algorithms have proven effective for complex large-scale optimization problems, they have not been formulated to find solutions quickly enough for use with MPC. This work details the implementation of a parallelized evolutionary MPC (EMPC) algorithm which is able to run in real-time through the use of a Graphics Processing Unit (GPU). This parallelization is accomplished by simulating candidate control input trajectories in parallel on the GPU. We show that this framework is more flexible in terms of cost function definition than traditional MPC and that it shows promise for finding solutions for high DoF systems.","PeriodicalId":143992,"journal":{"name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129795740","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: 12

Humanoid navigation in uneven terrain using learned estimates of traversability 利用可穿越性学习估计在不平坦地形中进行人形导航

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8239531

Yu-Chi Lin, D. Berenson

{"title":"Humanoid navigation in uneven terrain using learned estimates of traversability","authors":"Yu-Chi Lin, D. Berenson","doi":"10.1109/HUMANOIDS.2017.8239531","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2017.8239531","url":null,"abstract":"In this paper we explore discrete search-based contact space planning for humanoids using both palm and foot contact in complex unstructured environments. With a high branching factor and sparse contactable regions, it is challenging for the planner to find a contact sequence in such environments quickly. Therefore, we propose to learn a function which predicts traversability — a measure of how quickly the contact space planner can generate contact sequences to traverse a certain region. By including a learned traversability estimate into the heuristic function of the contact space planner, we can bias the planner to search the areas with more contactable regions, and thus find contact sequences more efficiently. In this paper we propose and evaluate two kinds of feature vectors for estimating traversability: Exact Contact Checking (ECC) and Approximate Contact Checking (ACC), which make different trade-offs between speed and accuracy. The experimental results show that the proposed approach using ACC outperforms both ECC and the baseline heuristic for contact space planning; ACC increases the planning success rate by 19% and reduces average planning time by 24% compared to the baseline in difficult environments with uneven terrain.","PeriodicalId":143992,"journal":{"name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130381443","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: 11

An online interactive method for guided calibration of multi-dimensional force/torque transducers 多维力/扭矩传感器的在线交互式导向标定方法

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8246904

Francesco Cursi, J. Malzahn, N. Tsagarakis, D. Caldwell

引用次数: 5

Feedback design for multi-contact push recovery via LMI approximation of the Piecewise-Affine Quadratic Regulator 基于分段仿射二次型调节器LMI逼近的多触点推力恢复反馈设计

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8246970

Weiqiao Han, Russ Tedrake

{"title":"Feedback design for multi-contact push recovery via LMI approximation of the Piecewise-Affine Quadratic Regulator","authors":"Weiqiao Han, Russ Tedrake","doi":"10.1109/HUMANOIDS.2017.8246970","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2017.8246970","url":null,"abstract":"To recover from large perturbations, a legged robot must make and break contact with its environment at various locations. These contact switches make it natural to model the robot as a hybrid system. If we apply Model Predictive Control to the feedback design of this hybrid system, the on/off behavior of contacts can be directly encoded using binary variables in a Mixed Integer Programming problem, which scales badly with the number of time steps and is too slow for online computation. We propose novel techniques for the design of stabilizing controllers for such hybrid systems. We approximate the dynamics of the system as a discrete-time Piecewise Affine (PWA) system, and compute the state feedback controllers across the hybrid modes offline via Lyapunov theory. The Lyapunov stability conditions are translated into Linear Matrix Inequalities. A Piecewise Quadratic Lyapunov function together with a Piecewise Linear (PL) feedback controller can be obtained by Semidefinite Programming (SDP). We show that we can embed a quadratic objective in the SDP, designing a controller approximating the Piecewise-Affine Quadratic Regulator. Moreover, we observe that our formulation restricted to the linear system case appears to always produce exactly the unique stabilizing solution to the Discrete Algebraic Riccati Equation. In addition, we extend the search from the PL controller to the PWA controller via Bilinear Matrix Inequalities. Finally, we demonstrate and evaluate our methods on a few PWA systems, including a simplified humanoid robot model.","PeriodicalId":143992,"journal":{"name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","volume":"174 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123387021","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: 14

Analysis of position tracking in torque control of humanoid robots considering joint elasticity and time delay 考虑关节弹性和时滞的人形机器人转矩控制中的位置跟踪分析

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8246921

Jaesug Jung, Soonwook Hwang, Yisoo Lee, Jaehoon Sim, Jaeheung Park

{"title":"Analysis of position tracking in torque control of humanoid robots considering joint elasticity and time delay","authors":"Jaesug Jung, Soonwook Hwang, Yisoo Lee, Jaehoon Sim, Jaeheung Park","doi":"10.1109/HUMANOIDS.2017.8246921","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2017.8246921","url":null,"abstract":"This study investigates the position tracking performance of torque controlled humanoid robots in the presence of joint elasticity and time delay in torque command. One of the main purposes using torque control for humanoid robots is to achieve compliant behaviors on uncertain external disturbance such as uneven terrain and interaction with human. On the other hand, high performance of position tracking is also required to implement motion control of robots. In this study, the effects of joint elasticity and time delay in torque command area investigated in terms of position tracking. First, a joint model is derived and validated, which reflects the elasticity and time delay. Frequency response analysis is exploited to theoretically evaluate the performance of the control system for position tracking. This joint model with the elasticity and time delay is used to estimate the limitations in the controller design for our torque controlled humanoid robot. Theoretical analysis and its comparison with experimental results demonstrate that the joint elasticity and time delay significantly affect the system performance.","PeriodicalId":143992,"journal":{"name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128679348","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: 11

Footwear discrimination using dynamic tactile information 利用动态触觉信息识别鞋类

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8246886

A. Drimus, Vedran Mikov

引用次数: 1

A deep probabilistic framework for heterogeneous self-supervised learning of affordances 异构自监督学习的深度概率框架

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8246915

Atabak Dehban, L. Jamone, A. R. Kampff, J. Santos-Victor

引用次数: 12