2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)最新文献_第8页

Strong recursive feasibility in model predictive control of biped walking 两足行走模型预测控制的强递归可行性

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8246953

M. Ciocca, Pierre-Brice Wieber, Thierry Fraichard

引用次数: 4

Peg-in-hole under state uncertainties via a passive wrist joint with push-activate-rotation function 在状态不确定下，通过具有推-激活-旋转功能的被动腕关节进行钉入孔

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8239539

Toshihiro Nishimura, Yosuke Suzuki, Tokuo Tsuji, Tetsuyou Watanabe

引用次数: 15

A two-staged residual for resilient external torque estimation with series elastic actuators 串联弹性作动器弹性外转矩估计的两级残差

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8246966

Chan Lee, Jinoh Lee, J. Malzahn, N. Tsagarakis, Sehoon Oh

{"title":"A two-staged residual for resilient external torque estimation with series elastic actuators","authors":"Chan Lee, Jinoh Lee, J. Malzahn, N. Tsagarakis, Sehoon Oh","doi":"10.1109/HUMANOIDS.2017.8246966","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2017.8246966","url":null,"abstract":"Collaborative robots driven by Series Elastic Actuators (SEA) exploit physical compliance, which enables joint torque sensing to accurately estimate external contact torques based on residual momenta. The deflection measurement precision for the compliant element determines the torque accuracy. It is affected by support clearances, assembly tolerances, stiffness calibration errors as well as unmodelled non-linearity. Moreover, the stiffness value amplifies deflection errors leading to larger torque estimation errors, which limits the benefits of integrated joint torque sensing for enhanced external torque estimation with higher stiffness SEAs. Accordingly, this paper newly proposes a two-staged approach of the residual based external torque estimation for SEA driven robots. The proposed method augments the residual calculation by the motor-side dynamics, uses both, motor and link side angular measurements, but entirely waives the need to model the spring dynamics for the external torque estimation. Consequently, this improves accuracy and sensitivity in wide-ranging stiffness applications. The performance of the two-staged residual is verified by experiments with the SEA of the WALK-MAN humanoid robot.","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":"128514507","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

Autonomous narration of humanoid robot kitchen task experience 仿人机器人厨房任务体验的自主叙述

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8246903

Qingxiaoyang Zhu, Vittorio Perera, Mirko Wächter, T. Asfour, M. Veloso

{"title":"Autonomous narration of humanoid robot kitchen task experience","authors":"Qingxiaoyang Zhu, Vittorio Perera, Mirko Wächter, T. Asfour, M. Veloso","doi":"10.1109/HUMANOIDS.2017.8246903","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2017.8246903","url":null,"abstract":"The progress in humanoid robotics research has led to robots that are able to perform complex tasks with a certain level of autonomy by integrating perception, action, planning, and learning capabilities. However, robot capabilities are still limited in regard to how they externalize their internal state and world state, i.e. their sensorimotor experience, and how they explain which tasks they performed and how they performed these tasks. In other words, their capability in conveying information to the user in a way similar to what humans do is limited. To this end, we present a verbalization system that generates natural language explanations of the robot's past navigation and manipulation experience. We propose a threelayered model to represent robot experience which doubles as a retrievable episodic memory. Through the memory system, the robot can select a matching experience given a user query. In order to generate flexible narrations, we use verbalization parameters to capture user preferences. We show that our verbalization algorithm is capable of producing appropriate results based on these verbalization parameters. The proposed verbalization system is able to generate explanations for navigation as well as grasping and manipulation tasks. The resulting system is evaluated in a pick-and-place kitchen scenario.","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":"132351599","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

Human-robot interaction assessment using dynamic engagement profiles 使用动态参与档案的人机交互评估

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8246941

Nicole Poltorak, A. Drimus

引用次数: 0

Carl — A compliant robotic leg featuring mono- and biarticular actuation 卡尔-一个兼容的机器人腿，具有单关节和双关节驱动

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8246888

Steffen Schütz, A. Nejadfard, K. Mianowski, Patrick Vonwirth, K. Berns

{"title":"Carl — A compliant robotic leg featuring mono- and biarticular actuation","authors":"Steffen Schütz, A. Nejadfard, K. Mianowski, Patrick Vonwirth, K. Berns","doi":"10.1109/HUMANOIDS.2017.8246888","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2017.8246888","url":null,"abstract":"An increasing number of biologically-inspired control approaches for bipedal walking are demonstrating impressive capabilities in simulations. Although many of them share the main assumptions about the simulated biped, so far no physical system has been presented that meets the requirements. Thus, in this paper we are presenting the Compliant Robotic Leg (Carl) — a fully actuated bio-inspired planar robotic leg that incorporates mono-as well as biarticular actuation. Its development is motivated by the vision to validate the Bioinspired Behavior Based Bipedal Locomotion Control (B4lc) on a physical platform. This paper provides an overview of the driving requirements for the different subsystems and the derived implementation. Two experiments were performed to proof the functionality of the system. Specifically, some key requirements — transparency, impact tolerance, force and impedance rendering — are demonstrated. To our knowledge, this is the first fully actuated robotic leg including biarticular elements that demonstrates distributed high-fidelity force and impedance control at the actuator level.","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":"121475467","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

Complementary integration framework for localization and recognition of a humanoid robot based on task-oriented frequency and accuracy requirements 基于任务导向频率和精度要求的仿人机器人定位与识别互补集成框架

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8246946

Iori Kumagai, Fumihito Sugai, Shunichi Nozawa, Youhei Kakiuchi, K. Okada, M. Inaba, F. Kanehiro

{"title":"Complementary integration framework for localization and recognition of a humanoid robot based on task-oriented frequency and accuracy requirements","authors":"Iori Kumagai, Fumihito Sugai, Shunichi Nozawa, Youhei Kakiuchi, K. Okada, M. Inaba, F. Kanehiro","doi":"10.1109/HUMANOIDS.2017.8246946","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2017.8246946","url":null,"abstract":"A robot system that can process environmental measurements and motion planning during locomotion is necessary to continuously perform various tasks. To achieve such a system, which we call the Perception-during-Traversing Model, the accuracy of environmental recognition must be improved and computational costs must be reduced; these are tradeoff relationships. In this paper, we propose a construction framework for a humanoid robot to solve the trade-off problems and achieve the Perception-during-Traversing Model system. The key idea of the proposed framework is subdividing and re-integrating the localization and recognition processes in a complementary manner based on task-oriented frequency and accuracy requirements. Moreover, we apply our framework to the humanoid robot JAXON, and demonstrate that it can execute various tasks continuously by the Perception-during-Traversing Model. The most important contribution of our framework is enabling the humanoid robot to localize itself accurately and measure the environment densely enough to execute tasks using its on-board computers; this provides a practical solution to the trade-off between recognition quality and computational costs.","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":"116366079","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

Humanoid gait generation for walk-to locomotion using single-stage MPC 基于单阶段MPC的仿人步行到运动步态生成

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8239554

Ahmed Aboudonia, Nicola Scianca, D. Simone, L. Lanari, G. Oriolo

引用次数: 9

Human motion reproduction by torque-based humanoid tracking control for active assistive device evaluation 基于力矩的仿人跟踪控制在主动辅助装置评价中的人体运动再现

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8246919

Takahiro Ito, Ko Ayusawa, E. Yoshida, Hiroshi Kobayashi

引用次数: 6

Comparison of linearized dynamic robot manipulator models for model predictive control 用于模型预测控制的线性化动态机械臂模型的比较

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8246876

J. S. Terry, Levi Rupert, Marc D. Killpack

引用次数: 16