2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)最新文献_第2页

Deep reinforcement learning for conversational robots playing games 会话机器人玩游戏的深度强化学习

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-15 DOI: 10.1109/HUMANOIDS.2017.8246959

H. Cuayáhuitl

引用次数: 8

Experimental evaluation of simple estimators for humanoid robots 类人机器人简单估计器的实验评价

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-15 DOI: 10.1109/HUMANOIDS.2017.8246977

T. Flayols, A. Prete, Patrick M. Wensing, Alexis Mifsud, M. Benallegue, O. Stasse

{"title":"Experimental evaluation of simple estimators for humanoid robots","authors":"T. Flayols, A. Prete, Patrick M. Wensing, Alexis Mifsud, M. Benallegue, O. Stasse","doi":"10.1109/HUMANOIDS.2017.8246977","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2017.8246977","url":null,"abstract":"This paper introduces and evaluates a family of new simple estimators to reconstruct the pose and velocity of the floating base. The estimation of the floating-base state is a critical challenge to whole-body control methods that rely on full-state information in high-rate feedback. Although the kinematics of grounded limbs may be used to estimate the pose and velocity of the body, modelling errors from ground irregularity, foot slip, and structural flexibilities limit the utility of estimation from kinematics alone. These difficulties have motivated the development of sensor fusion methods to augment body-mounted IMUs with kinematic measurements. Existing methods often rely on extended Kalman filtering, which lack convergence guarantees and may present difficulties in tuning. This paper proposes two new simplifications to the floating-base state estimation problem that make use of robust off-the-shelf orientation estimators to bootstrap development. Experiments for in-place balance and walking with the HRP-2 show that the simplifications yield results on par with the accuracy reported in the literature for other methods. As further benefits, the structure of the proposed estimators prevents divergence of the estimates, simplifies tuning, and admits efficient computation. These benefits are envisioned to help accelerate the development of baseline estimators in future humanoids.","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":"116073412","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: 32

Model-predictive control in multi-contact based on stability polyhedrons 基于稳定多面体的多接触模型预测控制

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-15 DOI: 10.1109/HUMANOIDS.2017.8246938

H. Audren, A. Kheddar

引用次数: 3

Walking on gravel with soft soles using linear inverted pendulum tracking and reaction force distribution 采用线性倒立摆跟踪和反力分布在软底砾石上行走

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-15 DOI: 10.1109/HUMANOIDS.2017.8246909

Adrien Pajon, Stéphane Caron, Giovanni De Magistris, S. Miossec, A. Kheddar

引用次数: 15

Real-time stabilization of a falling humanoid robot using hand contact: An optimal control approach 基于手接触的人形机器人跌落的实时稳定:一种最优控制方法

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8246912

Shihao Wang, Kris K. Hauser

引用次数: 8

Real-time smart stereo camera based on FPGA-SoC 基于FPGA-SoC的实时智能立体摄像头

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8246891

Soenke Michalik, S. Michalik, J. Naghmouchi, Mladen Berekovic

{"title":"Real-time smart stereo camera based on FPGA-SoC","authors":"Soenke Michalik, S. Michalik, J. Naghmouchi, Mladen Berekovic","doi":"10.1109/HUMANOIDS.2017.8246891","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2017.8246891","url":null,"abstract":"Stereo image processing is one of the most demanding tasks in the field of 3D computer vision and robot vision requiring high-performance computing capabilities within embedded systems. Real-time constraints for autonomous vehicles such as humanoid robots, lead to hardware acceleration approaches for high resolution stereo imaging in human-like vision systems, where commonly FPGA device are employed to handle very high sensor data rates. This work presents a realtime smart stereo camera system implementation resembling the full stereo processing pipeline in a single FPGA device. We introduce the novel memory optimized stereo processing algorithm ”Sparse Retina Census Correlation” (SRCC) that embodies a combination of two well established window based stereo matching approaches. We have leveraged a Sum of Absolute Difference (SAD) of Sobel-filtered images and a Sum of Hamming Distance (SHD) using a modified Retina based Census Transform for increased robustness to lighting variations and for high accuracy. A color rectification module has been implemented to cope with the high frame rate of the stereo pipelining calculating image transformations and rectified pixel coordinates in real-time using parameters for camera intrinsic, image rotation, image distortion and image projection. In addition multiple post-processing algorithms like texture filtering, uniqueness filtering, speckle removal and disparity to depth conversion have been implemented to further enhance the output results. The presented smart camera solution has demonstrated real-time stereo processing of 1280×720 pixel depth images with 256 disparities on a Zynq XC7Z030 FPGA device at 60fps. Due to the universal USB3.0 UVC interface and the onboard depth calculation it is a replacement for RGBD 3D-Sensors with improved image quality and outdoor performance. The camera can easily be used in conjunction with ROS-enabled robots and in automotive or industrial applications.","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":"126154048","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

Variable impedance walking using Time-Varying Lyapunov Stability Margins 时变Lyapunov稳定性裕度的变阻抗行走

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8246892

Emmanouil Spyrakos-Papastavridis, P. Childs, N. Tsagarakis

{"title":"Variable impedance walking using Time-Varying Lyapunov Stability Margins","authors":"Emmanouil Spyrakos-Papastavridis, P. Childs, N. Tsagarakis","doi":"10.1109/HUMANOIDS.2017.8246892","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2017.8246892","url":null,"abstract":"This paper introduces novel methods for a humanoid robot's online balance monitoring, as well as for the tuning of its impedance parameters, based on Time-Varying Lyapunov Stability Margins (TVLSMs). It distinguishes itself from previous works by considering TVLSMs whose values evolve in real-time, in accordance with the references supplied to a trajectory tracking controller, as opposed to the previously-considered static LSMs that revolve around the use of set-point regulators. As a result, an analytical relationship between the system's energy and its Centre-of-Pressure (CoP) is derived, providing a means of predicting the robot's balancing behaviour based on the evolution of the closed-loop system's actual and critical, energy values. An appropriate manipulation of this expression facilitates a real-time tuning of the active stiffness gains, which may be viewed as a process of constraining the robot's energy to residing within a ‘safe region’ of operation. Walking experiments performed using the COmpliant huMANoid (COMAN), reveal the proposed technique's accuracy in terms of predicting stable states, in addition to its capability of enabling an automated real-time tuning of a robot's impedance levels. The proposed strategy has permitted the stable replication of a wide range of joint impedance values, which is imperative for ground interaction during walking.","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":"116034930","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

A method for evaluating humanoid robots using anthropometric and biomechanical data 一种利用人体测量学和生物力学数据评估类人机器人的方法

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8239540

N. Thoma, James Holley, W. Verdeyen

{"title":"A method for evaluating humanoid robots using anthropometric and biomechanical data","authors":"N. Thoma, James Holley, W. Verdeyen","doi":"10.1109/HUMANOIDS.2017.8239540","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2017.8239540","url":null,"abstract":"Humanoids are generalists, often lacking specific tasks or goals that can be used to evaluate or compare robot performance. Evaluating humanoids through a standardized, generalizable approach can yield a measure of robot performance on yet to be defined tasks. Anthropometric and biomechanical data from human factors design guides can be used as a baseline for evaluating humanoid performance in human-engineered environments. Past humanoid designs have used anthropometric data to define their design parameters, but no standard exists for evaluating humanoid performance. By creating a standard for humanoids, a robots capabilities can be characterized without explicitly testing every conceivable task. NASAs Valkyrie robot was tested against the anthropometric, range of motion, mass property, and strength data from NASAs Constellation Program Human-Systems Integration Requirements. The robot model offered anthropometric and range of motion data, and hardware tests were used to collect mass proportion and strength data. According to the standard used, Valkyrie fell within acceptable bounds for 59% of anthropometry, 64% of range of motion, 13% of mass property and 35% of criticality 1 strength measurements. Evaluating humanoids against the standards upon which human systems are built yields a quantitative measure of robot performance in human-engineered environments. This proposed approach can be generalized to evaluate other humanoids against a common standard. Failures or weaknesses in the humanoid design can be identified and reevaluated over time. Metric performance can be improved through advancements in robot control, operator skill, and hardware redesign.","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":"116162846","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: 1

Humanoid robot performing jump-and-hit motions using structure-integrated pneumatic cable cylinders 使用结构集成气动电缆气缸进行跳撞运动的仿人机器人

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8246948

Kazutoshi Tanaka, Satoshi Nishikawa, Ryuma Niiyama, Y. Kuniyoshi

{"title":"Humanoid robot performing jump-and-hit motions using structure-integrated pneumatic cable cylinders","authors":"Kazutoshi Tanaka, Satoshi Nishikawa, Ryuma Niiyama, Y. Kuniyoshi","doi":"10.1109/HUMANOIDS.2017.8246948","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2017.8246948","url":null,"abstract":"In this study, a structure-integrated pneumatic cable cylinder has been developed to serve as an actuator for a humanoid robot. The performance of a robot in jumping and hitting a flying object (jump-and-hit motions) has been tested in order to predict its performance during immediate and dynamic whole-body motions. The authors tested the movement of the robofs arms using a cylinder, and jumping motions were simulated to determine the design parameters for the robot performing jump-and-hit operations. Test results for the robofs arms demonstrated that a two-kilogram arm, constructed using a C3, linder with a piston, 32 mm in diameter, moves 75 degrees in 0.44 s. Simulation results for a bipedal robot's forward jumping motion demonstrated that the top of its trunk, with a 50 mm joint force — torque ratio, moves forward by 3.0 m. Using the cylinder for the robofs arms and a joint with the above force — torque ratio in its legs, a prototype of a humanoid robot has been developed that performs a variety of jump-and-hit motions with a ball flying at it from different directions. Thus, the proposed design allows robots to conveniently perform immediate and dynamic whole-body motions.","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":"114582887","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: 4

Towards ergonomie control of human-robot co-manipulation and handover 面向人机协同操作与切换的人机工效控制

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8239537

L. Peternel, Wansoo Kim, J. Babič, A. Ajoudani

{"title":"Towards ergonomie control of human-robot co-manipulation and handover","authors":"L. Peternel, Wansoo Kim, J. Babič, A. Ajoudani","doi":"10.1109/HUMANOIDS.2017.8239537","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2017.8239537","url":null,"abstract":"In this paper, we propose a novel method for the control of human-robot eo-manipulation that takes into aeeount the ergonomie requirements for the human eo-worker. The robot uses a whole-body dynamic model of the human to optimise for the position of the eo-manipulation task in the workspace. In this configuration, the overloading joint torques, i.e. the effects of an external load in human body joints, are minimised. In addition, the optimisation process ineludes several constraints, sueh as human arm manipulability properties, to ensure that the human has a good manipulation eapaeity in the given eonfiguration. The main advantage of this approaeh is that the robot ean potentially help to reduee the work-related strain and increase the productivity of the human eo-worker. In addition, the on-line estimation of the overloading joint torques does not require an external foree plate or sensor insoles. We validated the proposed method with experiments in two eo-manipulation tasks: human using a device to polish an object that is delivered by the robot and a human-robot object handover. The results show that the proposed method is successful in achieving the ergonomie conditions for the human during the eollaboration.","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":"128584984","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: 72