2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)最新文献_第7页

Running Trajectory Generation Including Gait Transition between Walking Based on the Time-Varying Linear Inverted Pendulum Mode 基于时变线性倒立摆模式的包含步行间步态转换的跑步轨迹生成

2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids) Pub Date : 2022-11-28 DOI: 10.1109/Humanoids53995.2022.10000112

Satomi Hanasaki, Y. Tazaki, Hikaru Nagano, Y. Yokokohji

引用次数: 1

Task Driven Online Impedance Modulation 任务驱动在线阻抗调制

2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids) Pub Date : 2022-11-28 DOI: 10.1109/Humanoids53995.2022.10000215

Liana Bertoni, L. Muratore, Arturo Laurenzi, N. Tsagarakis

{"title":"Task Driven Online Impedance Modulation","authors":"Liana Bertoni, L. Muratore, Arturo Laurenzi, N. Tsagarakis","doi":"10.1109/Humanoids53995.2022.10000215","DOIUrl":"https://doi.org/10.1109/Humanoids53995.2022.10000215","url":null,"abstract":"The effective use of robotics in realistic environments requires robots capable of adapting to different task requirements and in terms of motion tracking performance, interaction forces, payload conditions as well as in uncertainties that may occur during the task execution. While impedance control represents an effective control tool to adapt to the different requirements and uncertainties, the online modulation of impedance during the task execution represents a critical prerequisite, yet it remains an open research topic today. In this work, we present a new method, which permits a robot to modulate online the parameters of its impedance taking into account of the requirements of the task to be performed. The method considers the motion tracking performance requested by the task as well as the expected task payload or interaction forces to derive the stiffness parameter that can ensure the desired performance under the required motion and payload conditions. Appropriate damping levels are also derived to ensure the stability of the modulated impedance on the robot. The method is successfully verified on the CENTAURO robot while performing a number of manipulation tasks with different motion requirements, payload, and interaction settings, showing its function in modulating online the impedance parameters of the robot for ensuring the requested performance.","PeriodicalId":180816,"journal":{"name":"2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)","volume":"22 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":"134647753","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

Enabling Patient- and Teleoperator-led Robotic Physiotherapy via Strain Map Segmentation and Shared-authority 通过应变图分割和共享权限实现患者和远程操作员主导的机器人物理治疗

2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids) Pub Date : 2022-11-28 DOI: 10.1109/Humanoids53995.2022.10000234

Stephan Balvert, J. M. Prendergast, Italo Belli, A. Seth, L. Peternel

{"title":"Enabling Patient- and Teleoperator-led Robotic Physiotherapy via Strain Map Segmentation and Shared-authority","authors":"Stephan Balvert, J. M. Prendergast, Italo Belli, A. Seth, L. Peternel","doi":"10.1109/Humanoids53995.2022.10000234","DOIUrl":"https://doi.org/10.1109/Humanoids53995.2022.10000234","url":null,"abstract":"In this work, we propose a method for monitoring and managing rotator-cuff (RC) tendon strains in human-robot collaborative physical therapy for shoulder rehabilitation. We integrate a high-resolution biomechanical model with a collaborative industrial robot arm and an impedance controller to provide feedback to a human subject, therapist or both, which prevents the subject from entering unsafe poses during rehabilitation. The biomechanical model estimates RC tendon strain as a function of human shoulder configuration, muscle activation and applied external forces. Subject- and injury-specific data are model estimates of strain that compose strain maps, which capture the relationship between the RC strains and movement of the shoulder degrees of freedom (DoF). High-strain regions of the strain map are identified as unsafe zones by clustering and ellipse fitting to smoothly demarcate these zones. These unsafe areas, which reflect increased risks of (re-)injury, are used to define parameters of an impedance controller and reference pose for real-time biomechanical safety control. Using strain maps we demonstrate both safe patient-led movements and teleoperated movements that prevent the subject from entering unsafe zones. In the teleoperated case, the physical therapist leads the patient remotely using a haptic device. The proposed method has the potential to improve the safety, range of motion, and volume of activity that a patient receives through robot-mediated physical therapy. We validated our approach using three experiments that demonstrate shoulder joint torques of less than 1 Nm during free motion with larger torques occurring only when the subject was asked to actively push into the unsafe boundary or, in the case of teleoperation, to resist the physical therapist.","PeriodicalId":180816,"journal":{"name":"2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)","volume":"3 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113963268","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

Simultaneous Action Recognition and Human Whole-Body Motion and Dynamics Prediction from Wearable Sensors 基于可穿戴传感器的同步动作识别和人体全身运动与动力学预测

2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids) Pub Date : 2022-11-28 DOI: 10.1109/Humanoids53995.2022.10000122

Kourosh Darvish, S. Ivaldi, D. Pucci

引用次数: 1

Muscle activity and Ground Reaction Force-based control strategies for actuating soft wearables using Squat motion 肌肉活动和地面反作用力为基础的控制策略，驱动软可穿戴设备使用深蹲运动

2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids) Pub Date : 2022-11-28 DOI: 10.1109/Humanoids53995.2022.10000217

Priyanka Ramasamy, G. Renganathan, Y. Kurita

{"title":"Muscle activity and Ground Reaction Force-based control strategies for actuating soft wearables using Squat motion","authors":"Priyanka Ramasamy, G. Renganathan, Y. Kurita","doi":"10.1109/Humanoids53995.2022.10000217","DOIUrl":"https://doi.org/10.1109/Humanoids53995.2022.10000217","url":null,"abstract":"The squat posture is the most recommended activity for training the lower body muscles primarily in sports and rehabilitation. However, the current soft exosuit wearable is actuated based on the assist and resist nature of the squat. Limitations of such soft wearables include parameter optimization to enhance the subject's performance. Hence, we proposed an approach to determine the feasible lower limb muscular activity by obtaining surface electromyographic (sEMG) signals. In contrast, the vertical ground reaction forces (vGRF) were obtained from force plates to cross-validate the importance of vGRF and its overlapping nature with the sEMG data. Three healthy volunteers with no abnormalities were included in this study. Each participant was allowed to perform unloaded isometric squat motion in three phases. The phases include proper eccentric (30%), load at peak (60 %) and concentric phases (100%) of the predefined squat sessions. Electromyographic signals (Delsys Inc., Boston, MA, USA) were obtained for seven major muscles in the lower limb using Trigno Wireless sensors and the force plate data were obtained in synchronization using Bertec Solutions. The comparative results confirmed that the Rectus Femoris muscle of the quadriceps group has maximum activity during the descent phase of (116.2)%MVC. At the same time, the Vastus Medialis and Vastus Lateralis muscles from the quadriceps group show a higher activation pattern during load at peak phase, even though the Rectus Femoris begin to have lower activation during the ascent phase. Also, the amplitude characteristics of the Vastus Medialis and Vastus Lateralis and Gluteus Maximus muscle groups show more significance in the vertical ground reaction force (vGRF) pattern. These findings indicate that the vGRF could also be used as an actuating parameter in addition to sEMG to actuate the soft wearable exosuits based on biomechanical applications.","PeriodicalId":180816,"journal":{"name":"2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)","volume":"381 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":"115989198","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

Inv-Reach Net: Deciding mobile platform placement for a given task Inv-Reach Net:决定给定任务的移动平台位置

2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids) Pub Date : 2022-11-28 DOI: 10.1109/Humanoids53995.2022.10000186

Thushara Sandakalum, Ng Xian Yao, Marcelo H ANG Jr

引用次数: 0

Robust Model Predictive Control for Robot Manipulators 机械臂鲁棒模型预测控制

2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids) Pub Date : 2022-11-28 DOI: 10.1109/Humanoids53995.2022.10000136

S. M. Tahamipour-Z., Goran R. Petrović, J. Mattila

{"title":"Robust Model Predictive Control for Robot Manipulators","authors":"S. M. Tahamipour-Z., Goran R. Petrović, J. Mattila","doi":"10.1109/Humanoids53995.2022.10000136","DOIUrl":"https://doi.org/10.1109/Humanoids53995.2022.10000136","url":null,"abstract":"Inherent nonlinearities, external disturbances and model uncertainties hinder the performance of controlling real-world systems. In the present study, we proposed a robust model prediction-based virtual decomposition control method (RMP-VDC) as a modification of the VDC using the model predictive control (MPC) to offer a practical solution for the real system control problem. The proposed method deals with uncertainties and external forces, as well as constraint matters, for complex nonlinear robot manipulators. By modifying the ideas from the VDC with MPC techniques, the time-varying state feedback control law for the ancillary controller is provided. The proposed method benefits from the introduction of a prediction horizon, which induces robustness and increases accuracy. The constrained optimization problem is analytically solved online by the continuous linearization of the nonlinear model and by employing the active set method. To validate the proposed controller, we performed the implementation on a real 7-degrees-of-freedom upper body exoskeleton robot, and the results were compared with those obtained using the adaptive VDC. The experimental results revealed increased accuracy for the proposed RMP-VDC in dealing with model uncertainties and interaction forces between humans and exoskeleton robots.","PeriodicalId":180816,"journal":{"name":"2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)","volume":"108 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":"121645416","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

Implementation of a Robust Dynamic Walking Controller on a Miniature Bipedal Robot with Proprioceptive Actuation 基于本体感觉驱动的微型双足机器人鲁棒动态行走控制器的实现

2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids) Pub Date : 2022-11-28 DOI: 10.1109/Humanoids53995.2022.10000075

Junjie Shen, Jingwen Zhang, Yeting Liu, D. Hong

{"title":"Implementation of a Robust Dynamic Walking Controller on a Miniature Bipedal Robot with Proprioceptive Actuation","authors":"Junjie Shen, Jingwen Zhang, Yeting Liu, D. Hong","doi":"10.1109/Humanoids53995.2022.10000075","DOIUrl":"https://doi.org/10.1109/Humanoids53995.2022.10000075","url":null,"abstract":"Developing a robust dynamic walking controller for bipedal robots remains challenging as the system is hybrid, highly nonlinear, and strongly restricted. The typical two-level structure of high-level footstep planning and low-level whole-body control has been proven an effective approach for bipedal locomotion. However, practical guidance on its implementation is rarely covered fully in detail. To bridge this gap, this paper presents a detailed implementation of such controller for dynamic walking applications on a miniature bipedal robot with proprioceptive actuation. To the best of our knowledge, this is the first fully-untethered miniature bipedal robot which can achieve robust dynamic walking using this framework. In particular, the high-level planner determines both the location and duration for the next few steps based on the divergent component of motion. The low-level controller leverages the full-body dynamics to establish the foot contact as planned while regulating other task-space behaviors, e.g., center of mass height and torso orientation. Both problems are formulated as small-scale quadratic programs, which can be solved efficiently with guaranteed optimality for real-time execution. Extensive results of simulation and hardware walking experiments are provided to demonstrate the strong robustness of the approach under various disturbances and uncertainties, e.g., external pushes and irregular terrains.","PeriodicalId":180816,"journal":{"name":"2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)","volume":"17 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":"124165882","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

Analytical Center of Mass Trajectory Generation for Humanoid Walking and Running with Continuous Gait Transitions 连续步态变换的仿人行走和奔跑质量轨迹生成分析中心

2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids) Pub Date : 2022-11-28 DOI: 10.1109/Humanoids53995.2022.10000236

Tobias Egle, Johannes Englsberger, C. Ott

{"title":"Analytical Center of Mass Trajectory Generation for Humanoid Walking and Running with Continuous Gait Transitions","authors":"Tobias Egle, Johannes Englsberger, C. Ott","doi":"10.1109/Humanoids53995.2022.10000236","DOIUrl":"https://doi.org/10.1109/Humanoids53995.2022.10000236","url":null,"abstract":"We present an analytical trajectory generation framework for the combined computation of multiple walking and running sequences with continuous gait transitions. This framework builds on the Divergent Component of Motion (DCM)-based walking algorithm and the spline-based trajec-tory generation of the Biologically Inspired Deadbeat (BID) control for running. We describe our approach to generating closed-form center of mass (CoM) trajectories for walking and running by alternately linking the two gaits through continuity constraints. Thereby, we distinguish between vertical and horizontal planning. The vertical trajectory is computed in a forward recursion from the first to the last gait sequence. Due to the coupling of the gait sequences in the horizontal direction, we show the efficient generation of the horizontal CoM trajectory in a single matrix calculation. Subsequently, we unify the control strategies using a DCM tracking controller for the complete trajectory and integrate the proposed framework into an inverse dynamics-based whole-body controller. Finally, the presented approaches are validated in simulations with the humanoid robot Toro.","PeriodicalId":180816,"journal":{"name":"2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)","volume":"51 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":"116873411","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

Online Bipedal Locomotion Adaptation for Stepping on Obstacles Using a Novel Foot Sensor 基于新型足部传感器的在线双足运动自适应

2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids) Pub Date : 2022-11-28 DOI: 10.1109/Humanoids53995.2022.10000072

Pezhman Abdolahnezhad, A. Yousefi-Koma, A. Vedadi, K. Sinaei, B. Maleki, M. Shafiee

{"title":"Online Bipedal Locomotion Adaptation for Stepping on Obstacles Using a Novel Foot Sensor","authors":"Pezhman Abdolahnezhad, A. Yousefi-Koma, A. Vedadi, K. Sinaei, B. Maleki, M. Shafiee","doi":"10.1109/Humanoids53995.2022.10000072","DOIUrl":"https://doi.org/10.1109/Humanoids53995.2022.10000072","url":null,"abstract":"In this paper, we present a novel control architecture for the online adaptation of bipedal locomotion on inclined obstacles. In particular, we introduce a novel, cost-effective, and versatile foot sensor to detect the proximity of the robot's feet to the ground (bump sensor). By employing this sensor, feedback controllers are implemented to reduce the impact forces during the transition of the swing to stance phase or steeping on inclined unseen obstacles. Compared to conventional sensors based on contact reaction force, this sensor detects the distance to the ground or obstacles before the foot touches the obstacle and therefore provides predictive information to anticipate the obstacles. The controller of the proposed bump sensor interacts with another admittance controller to adjust leg length. The walking experiments show successful locomotion on the unseen inclined obstacle without reducing the locomotion speed with a slope angle of 12°. Foot position error causes a hard impact with the ground as a consequence of accumulative error caused by links and connections' deflection (which is manufactured by university tools). The proposed framework drastically reduces the feet’ impact with the ground.","PeriodicalId":180816,"journal":{"name":"2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)","volume":"90 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":"132009063","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