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

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":null,"pages":null},"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

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

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

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":null,"pages":null},"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

Deep visual perception for dynamic walking on discrete terrain 离散地形上动态行走的深度视觉感知

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8246907

Avinash Siravuru, Allan Wang, Quan Nguyen, K. Sreenath

{"title":"Deep visual perception for dynamic walking on discrete terrain","authors":"Avinash Siravuru, Allan Wang, Quan Nguyen, K. Sreenath","doi":"10.1109/HUMANOIDS.2017.8246907","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2017.8246907","url":null,"abstract":"Dynamic bipedal walking on discrete terrain, like stepping stones, is a challenging problem requiring feedback controllers to enforce safety-critical constraints. To enforce such constraints in real-world experiments, fast and accurate perception for foothold detection and estimation is needed. In this work, a deep visual perception model is designed to accurately estimate step length of the next step, which serves as input to the feedback controller to enable vision-in-the-loop dynamic walking on discrete terrain. In particular, a custom convolutional neural network architecture is designed and trained to predict step length to the next foothold using a sampled image preview of the upcoming terrain at foot impact. The visual input is offered only at the beginning of each step and is shown to be sufficient for the job of dynamically stepping onto discrete footholds. Through extensive numerical studies, we show that the robot is able to successfully autonomously walk for over 100 steps without failure on a discrete terrain with footholds randomly positioned within a step length range of [45 : 85] centimeters.","PeriodicalId":143992,"journal":{"name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122532911","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

Sensing device simulating human buttock for the validation of robotic devices for nursing care 模拟人体臀部的传感装置，用于验证机器人护理设备

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8246960

Kunihiro Ogata, I. Kajitani, K. Homma, Y. Matsumoto

{"title":"Sensing device simulating human buttock for the validation of robotic devices for nursing care","authors":"Kunihiro Ogata, I. Kajitani, K. Homma, Y. Matsumoto","doi":"10.1109/HUMANOIDS.2017.8246960","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2017.8246960","url":null,"abstract":"Robotic devices for nursing care are expected to help caregivers work with the elderly. Some robotic devices assist in the physical transfer of the elderly, and these robots come in contact with large surfaces of the human body. The regions of the buttock and the back may be uncomfortable due to these robotic devices. Therefore, sensing devices simulating a human buttock were developed to quantify and evaluate the load of a human body objectively. This buttock dummy consists of simulated bone and soft tissues, which include muscle, fat and skin. These regions have multi-axis force sensors to enable the quantification of the load due to the robotic devices used for nursing care. On measuring the soft exterior, it was found that the stiffness of the buttock dummy was similar to the human buttock. The comfort of a robotic bed was measured using the buttock dummy, and it was found that the shear force increased due to the deformation of the robotic bed. Thus, it was proven that the buttock dummy was capable of measuring the load of the human body when being used with robotic devices for nursing care.","PeriodicalId":143992,"journal":{"name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116990811","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: 2

NimbRo-OP2: Grown-up 3D printed open humanoid platform for research NimbRo-OP2:成熟的3D打印开放人形研究平台

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8246944

Grzegorz Ficht, Philipp Allgeuer, Hafez Farazi, Sven Behnke

{"title":"NimbRo-OP2: Grown-up 3D printed open humanoid platform for research","authors":"Grzegorz Ficht, Philipp Allgeuer, Hafez Farazi, Sven Behnke","doi":"10.1109/HUMANOIDS.2017.8246944","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2017.8246944","url":null,"abstract":"The versatility of humanoid robots in locomotion, full-body motion, interaction with unmodified human environments, and intuitive human-robot interaction led to increased research interest. Multiple smaller platforms are available for research, but these require a miniaturized environment to interact with–and often the small scale of the robot diminishes the influence of factors which would have affected larger robots. Unfortunately, many research platforms in the larger size range are less affordable, more difficult to operate, maintain and modify, and very often closed-source. In this work, we introduce NimbRo-OP2, an affordable, fully open-source platform in terms of both hardware and software. Being almost 135 cm tall and only 18 kg in weight, the robot is not only capable of interacting in an environment meant for humans, but also easy and safe to operate and does not require a gantry when doing so. The exoskeleton of the robot is 3D printed, which produces a lightweight and visually appealing design. We present all mechanical and electrical aspects of the robot, as well as some of the software features of our well-established open-source ROS software. The NimbRo-OP2 performed at RoboCup 2017 in Nagoya, Japan, where it won the Humanoid League AdultSize Soccer competition and Technical Challenge.","PeriodicalId":143992,"journal":{"name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127404439","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: 18

Online estimation of friction constraints for multi-contact whole body control 多接触全身控制摩擦约束的在线估计

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8246896

Cameron P. Ridgewell, Robert J. Griffin, T. Furukawa, B. Lattimer

引用次数: 3

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":null,"pages":null},"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