2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)最新文献_第6页

Walking control for feasibility at limit of kinematics based on virtual leader-follower 基于虚拟leader-follower的极限行走可行性控制

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8246951

Robson Kenji Sato, T. Sugihara

引用次数: 4

Electrical stimulation feedback for gait control of walking simulator 电刺激反馈在步行模拟器步态控制中的应用

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8246963

Mengze Li, Zhaofan Yuan, T. Aoyama, Y. Hasegawa

{"title":"Electrical stimulation feedback for gait control of walking simulator","authors":"Mengze Li, Zhaofan Yuan, T. Aoyama, Y. Hasegawa","doi":"10.1109/HUMANOIDS.2017.8246963","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2017.8246963","url":null,"abstract":"When a paraplegic patient walks with the aid of an exoskeleton, the patient can only follow the preset walking trajectory and cannot receive any lower limb sensory feedback. This paper firstly proposes an index finger interface that allows a paraplegic patient to control the walking trajectory through an index finger voluntarily. The proposed interface consists of two rotatable links and one ring, and the interface is installed in the front of a crutch handle. The user controls the foot position of the foot position via a ring while keeping the balance with the crutch. On this basis, this paper also proposes an electrical stimulation feedback pattern that conveys the foot position to the user to assist the walking control. The electrical stimulation device contains 20 stimulation points that correspond to the spatial position. The electrical stimulus presents the foot position by switching the stimulation frequency and the stimulation position. For safety reasons, we conducted a preliminary study of the interface and feedback model with a healthy subject and a walking robot. We validated the effectiveness of the index finger interface and the electrical stimulation pattern through three experiments:1)pseudo-trajectory recognition under electrical stimulation feedback condition, 2) robot walking control under visual feedback condition, and 3) robot walking control under electrical stimulation feedback condition.","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":"126986831","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: 0

Towards intuitive rigid-body physics through parameter search 通过参数搜索实现直观的刚体物理

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8246964

J. Felip, D. Gonzalez-Aguirre, Omesh Tickoo

{"title":"Towards intuitive rigid-body physics through parameter search","authors":"J. Felip, D. Gonzalez-Aguirre, Omesh Tickoo","doi":"10.1109/HUMANOIDS.2017.8246964","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2017.8246964","url":null,"abstract":"The ability to predict the future location of objects is key for robots operating in unstructured and uncertain scenarios. It is even more important for general purpose humanoid robots that are meant to operate and adapt to multiple scenarios. They need to determine possible outcomes of actions, reason about their effect and plan subsequent movements accordingly to act preemptively. The prediction ability of current robotic systems in is far from that of humans. Neuroscience studies point out that humans have a predictive ability, called intuitive physics, to anticipate the behavior of dynamic environments enabling them to predict and take preemptive actions when necessary, for example to catch a flying ball or grab an object that is about to fall off a table. In this paper, we present a system that learns to predict based on previous observations. First, object's physical parameters are learned through observation using parameter search techniques. Second, the learned dynamic model of objects is used to generate probabilistic predictions through physics simulation. The parameter search update rules proposed, are compared to other approaches from the state-of-the-art in physical parameter learning. Finally, the predictive capability is evaluated through simulated and real experiments.","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":"126557693","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: 0

Affordance detection for task-specific grasping using deep learning 使用深度学习的特定任务抓取的可视性检测

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8239542

Mia Kokic, J. A. Stork, Joshua A. Haustein, D. Kragic

引用次数: 77

Multi-level motion analysis for physical exercises assessment in kinaesthetic rehabilitation 动觉康复运动训练评价的多层次运动分析

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8246923

M. Devanne, S. Nguyen

引用次数: 12

Gait generation via intrinsically stable MPC for a multi-mass humanoid model 基于本质稳定MPC的多质量人形模型步态生成

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8246926

Nicola Scianca, Valerio Modugno, L. Lanari, G. Oriolo

引用次数: 3

Closed loop control of walking motions with adaptive choice of directions for the iCub humanoid robot iCub仿人机器人自适应方向选择步行运动的闭环控制

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8246873

Kevin Stein, Yue Hu, M. Kudruss, M. Naveau, K. Mombaur

{"title":"Closed loop control of walking motions with adaptive choice of directions for the iCub humanoid robot","authors":"Kevin Stein, Yue Hu, M. Kudruss, M. Naveau, K. Mombaur","doi":"10.1109/HUMANOIDS.2017.8246873","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2017.8246873","url":null,"abstract":"The widely spread iCub humanoid robot has proved to be able to walk straight forward by means of an offline pattern generator, which did not allow for online adjustments and interactions. In this paper, we present a closed-loop control framework based on a Nonlinear Model Predictive Control pattern generator with feedback at the Center of Mass (CoM) position. This framework allows us to extend the walking capabilities of iCub to different walking directions, such as curved, sideways and backward walking. When compared to existing methods, the walking speed of iCub is increased by approximately 75% and the step period decreased by 45%. It was successfully tested with a reduced version of the iCub (HeiCub), but it was also shown to be applicable to the full iCub in simulation. The measured outcomes of the experiments are the walking velocity, the cost of transport, tracking precision of the Zero-Moment Point (ZMP), CoM and joint trajectories. The online feedback was shown to improve the walking stability by means of an improvement of the CoM tracking precision by 30% and the ZMP tracking precision by 60% compared to the same method without CoM position feedback control.","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":"130729608","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: 3

Robot and 3D-sensor calibration using a planar part of a robot hand 机器人和3d传感器校准使用机器人手的平面部分

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8246967

Y. Kita, Y. Goi, Y. Kawai

{"title":"Robot and 3D-sensor calibration using a planar part of a robot hand","authors":"Y. Kita, Y. Goi, Y. Kawai","doi":"10.1109/HUMANOIDS.2017.8246967","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2017.8246967","url":null,"abstract":"A generally applicable method of calibrating robot coordinates and three-dimensional sensor coordinates without using a calibration tool is proposed. Most calibration methods require an elaborate calibration tool, such as a marker board with a black and white pattern. However, making an accurate calibration board and making observations of the board attached to/grasped by/touched by a robot hand are both troublesome tasks. Aiming at reducing the labor and time required for calibration and enabling on-line registration, we propose using the robot hand itself as a “calibration object” without making any special marks. Because the position and orientation of the hand as an end-effector are known in the robot coordinates, the calibration problem is replaced by the problem of registering the geometric model of the hand to observed three-dimensional data to determine its location in the vision coordinates. To robustly carry out the registration for variously shaped hands, only a planar part of the hand is used for the registration in the iterative closest-point framework. To realize least manual interaction, a two-step approach that consists of registration with manual interaction and accuracy improvement using multiple observations is taken. The practical usefulness of the proposed method was examined using four differently shaped hands.","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":"134222564","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

Heuristically initialized motion planning in a low cost consumer robot 一种低成本消费型机器人的启发式初始化运动规划

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8246879

Nandan Banerjee, Erik Amaral, Benjamin Axelrod, Steven V. Shamlian, Mark Moseley

引用次数: 0

Safe trajectory optimization for whole-body motion of humanoids 类人机器人全身运动安全轨迹优化

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8246958

Valerio Modugno, Gabriele Nava, D. Pucci, F. Nori, G. Oriolo, S. Ivaldi

引用次数: 4