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

A pilot study on the eBear socially assistive robot: Implication for interacting with elderly people with moderate depression eBear社交辅助机器人的初步研究:与中度抑郁症老年人互动的意义

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8246957

B. AmirH.Kargar, M. Mahoor

引用次数: 12

Torque based stabilization control for torque sensorless humanoid robots 无扭矩传感器类人机器人基于扭矩的稳定控制

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8246908

Hiroto Suzuki, Yuya Nagamatsu, Takuma Shirai, Shunichi Nozawa, Youhei Kakiuchi, K. Okada, M. Inaba

{"title":"Torque based stabilization control for torque sensorless humanoid robots","authors":"Hiroto Suzuki, Yuya Nagamatsu, Takuma Shirai, Shunichi Nozawa, Youhei Kakiuchi, K. Okada, M. Inaba","doi":"10.1109/HUMANOIDS.2017.8246908","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2017.8246908","url":null,"abstract":"This paper proposes a stabilization control for joint torque controlled humanoid robots without joint torque sensors. The proposed controller's role is to compute all joint torques from the desired positions/postures of floating end effectors, the desired Center Of Gravity (COG), the desired root link posture and the reference Zero Moment Point (ZMP). The controller uses a very simple strategy based on the Single Degree Of Freedom (SDOF) model and statics. First, it calculates the wrenches at the COG or end effectors to keep their positions/postures. Second, it calculates the contact end effector wrenches by solving a constrained optimization problem. Finally, it computes joint torques from all end effector wrenches. Furthermore, we propose a method by which we control joint torques without joint torque sensors by compensating inertia torques and frictions. We implement the stabilization controller and the joint torque controller in a high-power biped robot. We confirm the effectiveness of the proposed controller through balancing and walking experiments on rough terrain.","PeriodicalId":143992,"journal":{"name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124119273","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: 10

Interactive data collection for deep learning object detectors on humanoid robots 人形机器人上深度学习目标检测器的交互式数据采集

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8246973

Elisa Maiettini, Giulia Pasquale, L. Rosasco, L. Natale

引用次数: 26

Trial-and-error learning of repulsors for humanoid QP-based whole-body control 仿人qp全身控制中排斥因子的试错学习

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8246914

Jonathan Spitz, Karim Bouyarmane, S. Ivaldi, Jean-Baptiste Mouret

引用次数: 8

Biped walking pattern generation based on spatially quantized dynamics 基于空间量化动力学的两足行走模式生成

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8246933

S. Kajita, M. Benallegue, Rafael Cisneros Limón, T. Sakaguchi, Shin'ichiro Nakaoka, M. Morisawa, K. Kaneko, F. Kanehiro

引用次数: 29

Capture-point based balance and reactive omnidirectional walking controller 基于捕获点的平衡与反应式全向行走控制器

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8239532

M. Bombile, A. Billard

引用次数: 7

An integrated design approach for a series elastic actuator: Stiffness formulation, fatigue analysis, thermal management 系列弹性致动器的集成设计方法:刚度公式、疲劳分析、热管理

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-11-01 DOI: 10.1109/HUMANOIDS.2017.8246902

M. C. Yildirim, P. Şendur, O. Bilgin, Berk Gulek, G. G. Yapici, B. Ugurlu

引用次数: 12

Real-time motion planning of legged robots: A model predictive control approach 腿式机器人的实时运动规划:一种模型预测控制方法

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-10-11 DOI: 10.1109/HUMANOIDS.2017.8246930

Farbod Farshidian, E. Jelavic, Asutosh Satapathy, Markus Giftthaler, J. Buchli

引用次数: 99

Capture point trajectories for reduced knee bend using step time optimization 捕获点轨迹减少膝关节弯曲使用步长时间优化

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-09-12 DOI: 10.1109/HUMANOIDS.2017.8239533

Robert J. Griffin, S. Bertrand, Georg Wiedebach, A. Leonessa, J. Pratt

引用次数: 7

A geometric approach for learning compliant motions from demonstration 从示范中学习柔顺运动的几何方法

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) Pub Date : 2017-09-08 DOI: 10.1109/HUMANOIDS.2017.8246961

Markku Suomalainen, V. Kyrki

{"title":"A geometric approach for learning compliant motions from demonstration","authors":"Markku Suomalainen, V. Kyrki","doi":"10.1109/HUMANOIDS.2017.8246961","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2017.8246961","url":null,"abstract":"This paper proposes a method to learn from human demonstration compliant contact motions, which take advantage of interaction forces between workpieces to align them, even when contact force may occur from different directions on different instances of reproduction. To manage the uncertainty in unstructured conditions, the motions learned with our method can be reproduced with an impedance controller. Learning from Demonstration is used because the planning of compliant motions in 3-D is computationally intractable. The proposed method will learn an individual compliant motion, many of which can be combined to solve more complex tasks. The method is based on measuring simultaneously the direction of motion and the forces acting on the end-effector. From these measurements we construct a set of constraints for motion directions which, with correct compliance, result in the observed motion. Constraints from multiple demonstrations are projected into a 2-D angular coordinate system where their intersection is determined to find a set of feasible desired directions, of which a single motion direction is chosen. The work is based on the assumption that movement in directions other than the desired direction is caused by interaction forces. Using this assumption, we infer the number of compliant axes and, if required, their directions. Experiments with a KUKA LWR4+ show that our method can successfully reproduce motions which require taking advantage of the environment.","PeriodicalId":143992,"journal":{"name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-09-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134496337","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: 17