2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)最新文献_第3页

An Optimal Frontier Enhanced “Next Best View” Planner For Autonomous Exploration 一种用于自主探索的优化边界增强“下一个最佳视图”规划器

2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids) Pub Date : 2022-11-28 DOI: 10.1109/Humanoids53995.2022.10000175

Liang Lu, A. Luca, L. Muratore, N. Tsagarakis

引用次数: 1

Functional Mode Switching for Safe and Efficient Human-Robot Interaction 安全高效人机交互的功能模式切换

2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids) Pub Date : 2022-11-28 DOI: 10.1109/Humanoids53995.2022.10000070

Petr Svarný, Mazin Hamad, Alexander Kurdas, M. Hoffmann, Saeed Abdolshah, S. Haddadin

引用次数: 2

A Shared Telemanipulation Interface to Facilitate Bimanual Grasping and Transportation of Objects of Unknown Mass 一种便于双手抓取和搬运未知质量物体的共享远程操作接口

2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids) Pub Date : 2022-11-28 DOI: 10.1109/Humanoids53995.2022.10000094

Davide Torielli, L. Muratore, A. Luca, N. Tsagarakis

{"title":"A Shared Telemanipulation Interface to Facilitate Bimanual Grasping and Transportation of Objects of Unknown Mass","authors":"Davide Torielli, L. Muratore, A. Luca, N. Tsagarakis","doi":"10.1109/Humanoids53995.2022.10000094","DOIUrl":"https://doi.org/10.1109/Humanoids53995.2022.10000094","url":null,"abstract":"The teleoperation of robots with human-like capabilities may pose significant challenges to the human operator due to the kinematic complexity and redundancy of these robots. Bimanual telemanipulation represents such a challenging task that requires precise coordination of the two arms to perform a stable bimanual grasp on an object and eventually transport the object while maintaining the grasp. In this work, we present a shared control telemanipulation interface to facilitate the bimanual grasping and transportation of objects of unknown mass. With the proposed method, the robot is able to transport the object maintaining autonomously a sufficient amount of grasping force while accepting commands from the operator to reach the desired location. As humans do, it is not necessary to know the weight of the object in advance; instead, the robot estimates it during the lifting phase. On the basis of the estimated weight, the required amount of grasping force is computed. During object transportation, the robot autonomously regulates the grasping forces in a shared control fashion, allowing the operator to seamlessly command only the trajectories of the object. The proposed method has been implemented and validated on the CENTAURO robot, a quadrupedal platform with a humanoid dual arm upper body, performing experiment where objects of different weights and dimensions must be picked up and transported.","PeriodicalId":180816,"journal":{"name":"2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129227689","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

Reproduction of roller painting operations by humanoid robot for observational learning 基于观察学习的仿人机器人滚轮喷漆操作再现

2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids) Pub Date : 2022-11-28 DOI: 10.1109/Humanoids53995.2022.10000197

Yoshiaki Watanabe, Kyosuke Miyairi, Kimitoshi Yamazaki, Mikita Miyaguchi

引用次数: 0

A Study on the Influence of Task Dependent Anthropomorphic Grasping Poses for Everyday Objects 任务依赖拟人抓取姿势对日常物品抓取影响的研究

2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids) Pub Date : 2022-11-28 DOI: 10.1109/Humanoids53995.2022.10000198

Niko Kleer, Martin Feick

引用次数: 0

On the Derivation of the Contact Dynamics in Arbitrary Frames: Application to Polishing with Talos 任意坐标系下接触动力学的推导:在Talos抛光中的应用

2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids) Pub Date : 2022-11-28 DOI: 10.1109/Humanoids53995.2022.10000208

Sébastien Kleff, Justin Carpentier, N. Mansard, L. Righetti

{"title":"On the Derivation of the Contact Dynamics in Arbitrary Frames: Application to Polishing with Talos","authors":"Sébastien Kleff, Justin Carpentier, N. Mansard, L. Righetti","doi":"10.1109/Humanoids53995.2022.10000208","DOIUrl":"https://doi.org/10.1109/Humanoids53995.2022.10000208","url":null,"abstract":"Contact dynamics relies on the simultaneous satisfaction of constraints at the robot body level and at the contact level. At both levels, various formulations can be chosen that all must lead to the same results, given the same hypothesis, hence the little importance of their details. Yet when using it in an optimal control problem, a particular formulation is often imposed by the task to be performed by the robot. In this paper, we detail the formulation of the contact quantities (force, movement) in an arbitrary frame imposed by the task. In that case, we will show that we are typically not interested in working in the local frame (attached to the robot contact point), nor in the world frame, but in a user-defined frame centered at the contact location with a fixed orientation in the world. The derivations can then be used for 6D, 3D or normal (pure-sliding) contact. We implemented the corresponding derivatives on top of the contact dynamics of the rigid-body dynamics library Pinocchio in the optimal control solver Crocoddyl. We show that a unique formulation is able to handle several operational orientations, by achieving several surfacing tasks in model predictive control with the robot Talos.","PeriodicalId":180816,"journal":{"name":"2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126412432","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

From the Study of Table Trajectories during Collaborative Carriages toward Pro-active Human-Robot Table Handling Tasks 从协同搬运过程中工作台轨迹的研究到主动人机工作台搬运任务

2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids) Pub Date : 2022-11-28 DOI: 10.1109/Humanoids53995.2022.10000081

I. Maroger, O. Stasse, B. Watier

{"title":"From the Study of Table Trajectories during Collaborative Carriages toward Pro-active Human-Robot Table Handling Tasks","authors":"I. Maroger, O. Stasse, B. Watier","doi":"10.1109/Humanoids53995.2022.10000081","DOIUrl":"https://doi.org/10.1109/Humanoids53995.2022.10000081","url":null,"abstract":"The study of human-human interactions is essential for a better understanding of human behaviour during collaborative tasks. This knowledge is not only interesting in life science but can also be useful in robotic science. Indeed, to efficiently assist a human partner during a human-robot collaboration, the robot needs to be as reactive as a human would be. This can only be achieved by embedding a model of human behaviour into the robot control scheme. In this paper, a human-humanoid robot collaboration to carry a table is tackled. First, the experimental Center of Mass (CoM) trajectories of a table carried by 20 pairs of subjects to various goal positions are studied and modeled using an optimal control problem. Then, based on this model, a prediction process which accurately predicts the table trajectories is designed. Finally, this prediction process is coupled with the robot Walking Pattern Generator (WPG). Using a torque whole-body controller, this framework is tested in simulation on Gazebo on a TALOS humanoid robot model. In this simulation, the robot actively assists a simulated human partner in lifting and carrying a table to an unknown goal position.","PeriodicalId":180816,"journal":{"name":"2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127819456","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

3D Polygonal Mapping for Humanoid Robot Navigation 面向人形机器人导航的三维多边形映射

2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids) Pub Date : 2022-11-28 DOI: 10.1109/Humanoids53995.2022.10000101

Arindam Roychoudhury, M. Missura, Maren Bennewitz

{"title":"3D Polygonal Mapping for Humanoid Robot Navigation","authors":"Arindam Roychoudhury, M. Missura, Maren Bennewitz","doi":"10.1109/Humanoids53995.2022.10000101","DOIUrl":"https://doi.org/10.1109/Humanoids53995.2022.10000101","url":null,"abstract":"The traditional environment representation for footstep planning and collision detection for humanoid robots is the 2.5D height map. Although easy to compute and relatively space efficient, height maps have limitations that prevent a humanoid from achieving its full navigational potential in complex real-world environments, e.g., due to lack of explicit representation of walkable surfaces. In this paper, we propose to represent planar surfaces with slanted polygons embedded into 3D Cartesian space, which significantly reduce the memory footprint required for a map. These 3D polygons have explicit boundaries and serve as planable regions for a humanoid for support placement, e.g., footstep planning, and for object placement and manipulation. At the same time, we use the aforementioned 3D polygons for localization within the map while it is being built from sensor data in real time. We hereby combine visual odometry techniques based on plane and edge registration with well-defined polygonal set operations to build an accurate and compact representation of indoor environments with a global ground plane. The result is a geometric map which not only provides an explicit bounded planar surface representation but also allows analytically computed collision and placement information. As our experimental results obtained with the Nao humanoid robot show, we are able to obtain 3D polygonal maps built over extended sequences of RGB-D frames while maintaining an efficient per frame run-time at an especially small memory consumption.","PeriodicalId":180816,"journal":{"name":"2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114885617","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

Manipulation of Heavy Object with Rapid Force Fluctuation by Humanoids Based on Motion Failure Detection and Repeated Trials 基于运动失效检测和重复试验的拟人机器人操纵快速力波动的重物

2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids) Pub Date : 2022-11-28 DOI: 10.1109/Humanoids53995.2022.10000111

Keitaro Murakami, Yuta Kojio, Kunio Kojima, Youhei Kakiuchi, K. Okada, M. Inaba

{"title":"Manipulation of Heavy Object with Rapid Force Fluctuation by Humanoids Based on Motion Failure Detection and Repeated Trials","authors":"Keitaro Murakami, Yuta Kojio, Kunio Kojima, Youhei Kakiuchi, K. Okada, M. Inaba","doi":"10.1109/Humanoids53995.2022.10000111","DOIUrl":"https://doi.org/10.1109/Humanoids53995.2022.10000111","url":null,"abstract":"Humanoid robots can manipulate heavy objects by using their body weight. However, in manipulating heavy objects such as wheelchairs, tall shelves, and carts, the robot itself or the object easily falls over. Thus, proper control of the CoG and the manipulation force against the object's rapid movement is required. The following issues must be addressed in order for such manipulation. A humanoid is highly vulnerable to rapid force change and easily falls over if it improperly shifts the CoG. Further, it is difficult to estimate the complex manipulation force trajectory in advance if the object's precise physical and geometric parameters are unknown. In this paper, we propose a method to progressively acquire an appropriate force trajectory by repeating object manipulations. The proposed method solves the abovementioned problems as follows. The robot avoids falling over by detecting the motion failure in advance according to the robot's stability and the state estimation of the manipulated object while executing the motion. It predicts the correct force trajectory based on the force measured in this trial. It finetunes the predicted trajectory online with the measured reaction force. We implemented these methods into a control system and verified their effectiveness by experiments on an actual robot, realizing the pushing-up motion of the front wheels of a wheelchair by repeated trials, as an example.","PeriodicalId":180816,"journal":{"name":"2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)","volume":"102 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134522308","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

Design of the Humanoid Robot TOCABI 仿人机器人TOCABI的设计

2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids) Pub Date : 2022-11-28 DOI: 10.1109/Humanoids53995.2022.10000102

M. Schwartz, Jaehoon Sim, June-Sung Ahn, Soonwook Hwang, Yisoo Lee, Jaeheung Park

引用次数: 5