2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)最新文献_第5页

Adaptive step duration in biped walking: A robust approach to nonlinear constraints 双足步行的自适应步长:非线性约束的鲁棒方法

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8246952

N. Bohorquez, Pierre-Brice Wieber

引用次数: 11

Trajectory optimization of humanoid robots swinging leg 仿人机器人摆腿轨迹优化

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8246898

Z. Luo, Xuechao Chen, Zhangguo Yu, Qiang Huang, Libo Meng, Qingqing Li, Weimin Zhang, Wenjuan Guo, A. Ming

引用次数: 3

Learning optimal gait parameters and impedance profiles for legged locomotion 学习腿部运动的最佳步态参数和阻抗曲线

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8246895

Elco Heijmink, A. Radulescu, Brahayam Pontón, Victor Barasuol, D. Caldwell, C. Semini

引用次数: 12

Adapting to contacts: Energy tanks and task energy for passivity-based dynamic movement primitives 适应接触:基于被动的动态运动原语的能量罐和任务能量

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8239548

Erfan Shahriari, Aljaz Kramberger, A. Gams, A. Ude, S. Haddadin

引用次数: 33

Online stability estimation based on inertial sensor data for human and humanoid fall prevention 基于惯性传感器数据的人体及类人跌倒预防在线稳定性估计

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8239553

L. Steffan, Lukas Kaul, T. Asfour

引用次数: 7

Implementing tactile behaviors using FingerVision 使用手指视觉实现触觉行为

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8246881

Akihiko Yamaguchi, C. Atkeson

引用次数: 77

Modeling, design, and experimental evaluation of rotational elastic joints for underactuated robotic fingers 欠驱动机器人手指旋转弹性关节的建模、设计和实验评估

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8246897

U. Scarcia, G. Berselli, G. Palli, C. Melchiorri

{"title":"Modeling, design, and experimental evaluation of rotational elastic joints for underactuated robotic fingers","authors":"U. Scarcia, G. Berselli, G. Palli, C. Melchiorri","doi":"10.1109/HUMANOIDS.2017.8246897","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2017.8246897","url":null,"abstract":"In this paper, a novel 3D printed Rotational Joint (RJ) embedding an integrated elastic element is presented. The RJ, produced as a single piece by means of an FDM printer, comprises a traditional pin hinge coupled with a pair of spiral torsion springs, providing the desired compliance for the application at hand. Benefits of the proposed design include monolithic manufacturing and possibility to be successfully employed in robotic articulated devices requiring joint elasticity for their functioning. On the other hand, the sub-optimal RJ behavior, mainly caused by the unavoidable friction between 3D printed mating surfaces, must be accurately taken into account for design purposes. In this context, preliminary reliability tests have been performed showing promising results in terms of lifetime and negligible fatigue effects. Then, a mathematical model of the system is derived, which comprises the spring elasticity along with any frictional effects that may be due to either the pin hinge itself or the tendon transmission (frequently employed in underactuated robotic devices). The model parameters have been empirically evaluated by comparing simulated and experimental data. In addition, the last part of the paper describes how the proposed RJ can be effectively employed for the design of modular, underactuated fingers, providing three degrees of freedom and a single tendon transmission. To this end the model of the joint module proposed in this work will be the starting point for the geometry dimensioning of a finger with a desired free closure motion.","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":"122586840","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: 5

Utilizing speed-accuracy trade-off models for human-robot coadaptation during cooperative groove fitting task 基于速度-精度权衡模型的人机协同适应协同槽拟合

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8239544

T. Petrič, Misel Cevzar, J. Babič

{"title":"Utilizing speed-accuracy trade-off models for human-robot coadaptation during cooperative groove fitting task","authors":"T. Petrič, Misel Cevzar, J. Babič","doi":"10.1109/HUMANOIDS.2017.8239544","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2017.8239544","url":null,"abstract":"What are the benefits of performing a task with other partners in a physically interactive manipulation task setups? By utilizing a novel human motor learning paradigm, where two individuals are aware of each other and their hands are physically connected through an object, we investigated how each partner adapts his/her motor behavior. We first analyzed performance of twenty subjects on a task where a long object, i.e. a pipe, needs to be manipulated into a groove with different tolerances. We tested efficiency and accuracy of performing the task in two different scenarios: a) one human alone — twenty subjects; b) two humans cooperating — ten pairs. We observed that the task performance during cooperative manipulation of an object does not follow any rules, i.e. either both partners get worse, or both get better, or one partner get and one get worse. By exploiting this properties, we propose a novel control algorithm for robots in physically interactive and cooperative human-robot setups, where the robot adapts to the performance of his/hers partner. This way, it allows the human partner to improve his/hers task performance. The results show that the proposed approach can successfully adapt and match motion of the human partner, and thereby enable the human partner to improve his/her motor skills. After adaption, the human coupled with a robotic partner, can perform the task faster.","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":"121281271","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

Opening a lockbox through physical exploration 通过物理探索打开一个锁箱

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8246913

Manuel Baum, Matthew Bernstein, Roberto Martín-Martín, S. Höfer, Johannes Kulick, M. Toussaint, A. Kacelnik, O. Brock

{"title":"Opening a lockbox through physical exploration","authors":"Manuel Baum, Matthew Bernstein, Roberto Martín-Martín, S. Höfer, Johannes Kulick, M. Toussaint, A. Kacelnik, O. Brock","doi":"10.1109/HUMANOIDS.2017.8246913","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2017.8246913","url":null,"abstract":"How can we close the gap between animals and robots when it comes to intelligently interacting with the environment? On our quest for answers, we have investigated the problem of physically exploring complex mechanical puzzles, called lockboxes. Biologists have discovered that cockatoos are intrinsically motivated to explore and solve such problems through physical explorative behavior. In this work, we study how different strategies shape the robots' exploration, given basic perception-action skills. Our evaluation highlights the influence of different statistical priors on the performance of the exploration strategies, showing that not only a range of computational methods, but also a range of priors could explain different exploration behaviors. We carry out our study of exploration strategies both in simulation and on two robot platforms. This first step towards a fully integrated real-world system allowed us to identify and remove limitations of our prior theoretical work on cross-entropy-based exploration when applied to complex realistic scenarios. In this paper we propose novel variants of this strategy and our experiments verify that the cross-entropy method performs well on a physical lockbox analogue of the cockatoo apparatus, and can generalize to lockboxes of different properties.","PeriodicalId":143992,"journal":{"name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114928795","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

Hybrid position/force control for biped robot stabilization with integrated center of mass dynamics 集成质心动力学的双足机器人位置/力混合稳定控制

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8246955

Felix Sygulla, Robert Wittmann, Philipp Seiwald, Arne-Christoph Hildebrandt, Daniel Wahrmann, D. Rixen

{"title":"Hybrid position/force control for biped robot stabilization with integrated center of mass dynamics","authors":"Felix Sygulla, Robert Wittmann, Philipp Seiwald, Arne-Christoph Hildebrandt, Daniel Wahrmann, D. Rixen","doi":"10.1109/HUMANOIDS.2017.8246955","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2017.8246955","url":null,"abstract":"Traversing uneven terrain with unexpected changes in ground height still poses a major challenge to walking stabilization of humanoid robots. A common approach to balance a biped in such situations is the control of the ground reaction forces at the feet. However, the dynamics of the center of mass is not considered in existing solutions for this direct force control scheme. In this work, we present a force control method to realize contact forces by accelerating the center of mass, which is directly integrated into our hybrid position/force control scheme. For this, we first introduce an analytical formulation for a contact model in task-space. We evaluate the performance of our approach in simulation and real-world experiments with our humanoid robot LOLA. The integration of center of mass dynamics shows great reduction of upper-body inclination angles for a late contact experiment with 5.5 cm change in ground height. We found that by using the system's center of mass dynamics in the force controller, undesired movements along the under-actuated degrees of freedom can be compensated effectively. We consider our approach a starting point for the development of more sophisticated direct force control concepts for humanoid robots.","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":"127425561","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