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Rh-0 humanoid full size robot's control strategy based on the Lie logic technique 基于李逻辑技术的Rh-0仿人全尺寸机器人控制策略
5th IEEE-RAS International Conference on Humanoid Robots, 2005. Pub Date : 2005-12-05 DOI: 10.1109/ICHR.2005.1573579
M. Arbulú, Jose M. Pardos, L. Cabás, P. Staroverov, D. Kaynov, C. Perez, Miguel Rodriguez, C. Balaguer
{"title":"Rh-0 humanoid full size robot's control strategy based on the Lie logic technique","authors":"M. Arbulú, Jose M. Pardos, L. Cabás, P. Staroverov, D. Kaynov, C. Perez, Miguel Rodriguez, C. Balaguer","doi":"10.1109/ICHR.2005.1573579","DOIUrl":"https://doi.org/10.1109/ICHR.2005.1573579","url":null,"abstract":"This paper presents the experimental results of the full size Rh-0 humanoid robot developed by the University Carlos III of Madrid. The robot has 21 DOF, 1.350 mm height and 40 kg weight including the on-board batteries and hardware. The robot's control architecture is formed by the distributed dual CAN bus system. The bus is used for joints' control and supervision, and also for sensing different global robots features. The key innovation is the kinematics control strategy based on the Lie logic technique. Using the product of exponentials (PoE) and the Paden-Kahan sub-problem techniques, the sagital kinematics division (SKD) algorithm for robot's kinematics control had been implemented. The results of this implementation are shown in the final part of the paper","PeriodicalId":192337,"journal":{"name":"5th IEEE-RAS International Conference on Humanoid Robots, 2005.","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129709844","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
Walking control using the SC approach for humanoid robot 基于SC方法的仿人机器人行走控制
5th IEEE-RAS International Conference on Humanoid Robots, 2005. Pub Date : 2005-12-05 DOI: 10.1109/ICHR.2005.1573582
K. Kameta, A. Sekiguchi, Y. Tsumaki, D. Nenchev
{"title":"Walking control using the SC approach for humanoid robot","authors":"K. Kameta, A. Sekiguchi, Y. Tsumaki, D. Nenchev","doi":"10.1109/ICHR.2005.1573582","DOIUrl":"https://doi.org/10.1109/ICHR.2005.1573582","url":null,"abstract":"Conventional humanoid robots cannot achieve human like walking patterns. The reason is that human walking patterns include singularity configurations, i.e. configurations with the extended knees. Such kinematic singularities cause spurious joint motions. In other words, a humanoid robot cannot handle the singularity problem. On the other hand, humans make use of singularity configurations, because at such configurations large forces in certain directions can be generated. Therefore, singularities play an important roll for creating efficient walking patterns. In our previous work, we proposed the singularity consistent (SC) approach that can handle the singularity problem without instabilities. Until now, the approach has been applied to various manipulators. In this paper, we implement the SC approach into a walking pattern generator for a humanoid. Some issues and resolutions addressed. Experimental results show the effectiveness of our approach","PeriodicalId":192337,"journal":{"name":"5th IEEE-RAS International Conference on Humanoid Robots, 2005.","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130313958","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
Development of humanoid robot HRP-3P 人形机器人HRP-3P的研制
5th IEEE-RAS International Conference on Humanoid Robots, 2005. Pub Date : 2005-12-05 DOI: 10.1109/ICHR.2005.1573544
K. Akachi, K. Kaneko, Noriyuki Kanehira, S. Ota, G. Miyamori, Masaru Hirata, S. Kajita, F. Kanehiro
{"title":"Development of humanoid robot HRP-3P","authors":"K. Akachi, K. Kaneko, Noriyuki Kanehira, S. Ota, G. Miyamori, Masaru Hirata, S. Kajita, F. Kanehiro","doi":"10.1109/ICHR.2005.1573544","DOIUrl":"https://doi.org/10.1109/ICHR.2005.1573544","url":null,"abstract":"A development of humanoid robot HRP-3P, which is a humanoid robot HRP-3 prototype, is presented in this paper. HRP-3 is under development as the succession humanoid to HRP-2, which we developed in phase two of HRP (humanoid robotics project). One of futures of HRP-3P is that its main mechanical and structural components are designed for protection against dust and water. Another is that node controllers are developed for realization of distributed control system. Real-time communication on Ethernet is also newly developed for communication between main controller and node controllers. In this paper, mechanical features and electrical features are presented with specifications of HRP-3P","PeriodicalId":192337,"journal":{"name":"5th IEEE-RAS International Conference on Humanoid Robots, 2005.","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127116746","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: 174
A shape matching algorithm for synthesizing humanlike enveloping grasps 一种合成仿人包络抓手的形状匹配算法
5th IEEE-RAS International Conference on Humanoid Robots, 2005. Pub Date : 2005-12-05 DOI: 10.1109/ICHR.2005.1573607
Y. Li, N. Pollard
{"title":"A shape matching algorithm for synthesizing humanlike enveloping grasps","authors":"Y. Li, N. Pollard","doi":"10.1109/ICHR.2005.1573607","DOIUrl":"https://doi.org/10.1109/ICHR.2005.1573607","url":null,"abstract":"Humanoid robots must be capable of interacting with the world using their hands. A variety of humanlike robot hands have been constructed, but it remains difficult to control these hands in a dexterous way. One challenge is grasp synthesis, where we wish to place the hand and control its shape to successfully grasp a given object. In this paper, we present a datadriven approach to grasp synthesis that treats grasping as a shape matching problem. We begin with a database of grasp examples. Given a model of a new object to be grasped (the query), shape features of the object are compared to shape features of hand poses in these examples in order to identify candidate grasps. For effective retrieval, we develop a novel shape matching algorithm that can accommodate the sparse shape information associated with hand pose and that considers relative placements of contact points and normals, which are important for grasp function. We illustrate our approach with examples using a model of the human hand","PeriodicalId":192337,"journal":{"name":"5th IEEE-RAS International Conference on Humanoid Robots, 2005.","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129253858","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: 73
A vision/position/force control approach for performing assembly tasks with a humanoid robot 一种用人形机器人执行装配任务的视觉/位置/力控制方法
5th IEEE-RAS International Conference on Humanoid Robots, 2005. Pub Date : 2005-12-05 DOI: 10.1109/ICHR.2005.1573580
P. Dauchez, P. Fraisse, F. Pierrot
{"title":"A vision/position/force control approach for performing assembly tasks with a humanoid robot","authors":"P. Dauchez, P. Fraisse, F. Pierrot","doi":"10.1109/ICHR.2005.1573580","DOIUrl":"https://doi.org/10.1109/ICHR.2005.1573580","url":null,"abstract":"Humanoid robots are currently widely studied because of the many future applications they could be used for. Many researchers are working on the locomotion aspects. We are more interested in dual-arm manipulation tasks, because of our long experience on this topic. In this paper, we consider the task consisting in assembling two objects, each of them being held by one of the humanoid arms, as human beings often do. In this framework, we briefly recall methods that we have developed in the past for (i) hybrid position/force control of a two-arm robot and (ii) relative positioning of the end-effectors of two manipulators. We propose to combine these approaches with a solution using the vision system of the humanoid in order to fully automatize the assembly task. Tests have successfully been performed with the OpenHRP simulator of the HRP2 humanoid but they only represent preliminary work. Therefore, this short paper should be considered as an introduction to the research activities we would like to focus on in the future","PeriodicalId":192337,"journal":{"name":"5th IEEE-RAS International Conference on Humanoid Robots, 2005.","volume":"103 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117296383","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
Engineering solutions to build an inexpensive humanoid robot based on a distributed control architecture 基于分布式控制体系结构的廉价类人机器人工程解决方案
5th IEEE-RAS International Conference on Humanoid Robots, 2005. Pub Date : 2005-12-05 DOI: 10.1109/ICHR.2005.1573550
Vítor M. F. Santos, Filipe M. T. Silva
{"title":"Engineering solutions to build an inexpensive humanoid robot based on a distributed control architecture","authors":"Vítor M. F. Santos, Filipe M. T. Silva","doi":"10.1109/ICHR.2005.1573550","DOIUrl":"https://doi.org/10.1109/ICHR.2005.1573550","url":null,"abstract":"Building a humanoid robot is a formidable engineering task requiring the combination of mechanical, electrical and software technologies. This paper presents the main steps to design a low cost fully autonomous humanoid platform and the set of solutions proposed. The main scope of the project beneath this paper is to carry out research on control, navigation and perception, whilst offering opportunities for under and pos-graduate students to apply engineering methods and techniques. The main features of the 22 degrees-of-freedom robot include the distributed control architecture, based on a CAN bus, and the modularity at the system level. Although some issues are yet to be addressed, the stage of development is already mature for practical experiments and to obtain the first conclusions on the potential of the proposed solutions","PeriodicalId":192337,"journal":{"name":"5th IEEE-RAS International Conference on Humanoid Robots, 2005.","volume":"252 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115768923","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: 6
Robot Manzai - robots' conversation as a passive social medium 机器人漫仔——作为被动社交媒介的机器人对话
5th IEEE-RAS International Conference on Humanoid Robots, 2005. Pub Date : 2005-12-05 DOI: 10.1109/ICHR.2005.1573609
Kotaro Hayashi, T. Kanda, T. Miyashita, H. Ishiguro, N. Hagita
{"title":"Robot Manzai - robots' conversation as a passive social medium","authors":"Kotaro Hayashi, T. Kanda, T. Miyashita, H. Ishiguro, N. Hagita","doi":"10.1109/ICHR.2005.1573609","DOIUrl":"https://doi.org/10.1109/ICHR.2005.1573609","url":null,"abstract":"This paper reports on the development of a multirobot cooperation system for human-robot communication. In the system, robots behave as if they are communicating by speech, but the system is designed based on communication through a network. Actual information exchanged through the network is based on analysis of inter-human conversation. This system is based on a scripting language for coordinating multi-robot communication, which has the advantage for developer's being easy to develop. The developed system is applied to \"robot Manzai\" which is a Japanese comedy conversation usually performed by two people. Although tempo and timing are particularly important in Manzai, the robot Manzai system was more highly evaluated than the Manzai shown in a video performed by humans. We believe that this system demonstrates the potential of robots as a passive-social medium, similar to television and computers","PeriodicalId":192337,"journal":{"name":"5th IEEE-RAS International Conference on Humanoid Robots, 2005.","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115842098","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: 28
Distributed visual attention on a humanoid robot 类人机器人的分散视觉注意力
5th IEEE-RAS International Conference on Humanoid Robots, 2005. Pub Date : 2005-12-05 DOI: 10.1109/ICHR.2005.1573597
A. Ude, V. Wyart, Li-Heng Lin, G. Cheng
{"title":"Distributed visual attention on a humanoid robot","authors":"A. Ude, V. Wyart, Li-Heng Lin, G. Cheng","doi":"10.1109/ICHR.2005.1573597","DOIUrl":"https://doi.org/10.1109/ICHR.2005.1573597","url":null,"abstract":"Complex visual processes such as visual attention are often computationally too expensive to allow real-time implementation on a single computer. To solve this problem we study distributed computer architectures that enable us to divide complex tasks into several smaller problems. In this paper we demonstrate how to implement distributed visual attention system on a humanoid robot to achieve real-time operation at relatively high resolutions and frame rates. We start from a popular theory of bottom-up visual attention that assumes that information across various modalities is used for the early encoding of visual information. Our system uses five different modalities including color, intensity, edges, stereo, and motion. We show how to distribute the attention processing on a computer cluster and study the issues arising on such systems. The system was fully implemented on a workstation cluster comprised of eight PCs. It was used to drive the gaze of a humanoid head towards potential regions of interest","PeriodicalId":192337,"journal":{"name":"5th IEEE-RAS International Conference on Humanoid Robots, 2005.","volume":"522 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132322670","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: 52
Identifying musculo-tendon parameters of human body based on the musculo-skeletal dynamics computation and Hill-Stroeve muscle model 基于肌肉骨骼动力学计算和Hill-Stroeve肌肉模型的人体肌肉肌腱参数识别
5th IEEE-RAS International Conference on Humanoid Robots, 2005. Pub Date : 2005-12-05 DOI: 10.1109/ICHR.2005.1573592
G. Venture, K. Yamane, Yoshihiko Nakamura
{"title":"Identifying musculo-tendon parameters of human body based on the musculo-skeletal dynamics computation and Hill-Stroeve muscle model","authors":"G. Venture, K. Yamane, Yoshihiko Nakamura","doi":"10.1109/ICHR.2005.1573592","DOIUrl":"https://doi.org/10.1109/ICHR.2005.1573592","url":null,"abstract":"The goal of the works presented in this paper is to study the feasibility of the in-vivo estimation of the musculo-tendon dynamics using an original approach. Contrarily to usual literature in this field the Hill-Stroeve based model parameters are estimated, and not only some global parameters with little physiological meaning. This estimation is based on the computation of the inverse kinematics and the inverse dynamics of the human body, using a musculo-skeletal description. It also includes an optimization of the muscle force. Muscles are described by a modified and simplified Hill-type model. Parameters involved in this model are estimated in-vivo. In the preliminary works the flexion-extension of the elbow joint only is considered. Experimental set-up includes EMGs acquisition and motion capture data. Movements are chosen to limit cocontraction of antagonist muscles. Results are given for three of four muscles involved in the joint movements. Such results are very important for medical applications in rehabilitation, sport science, study of muscle diseases","PeriodicalId":192337,"journal":{"name":"5th IEEE-RAS International Conference on Humanoid Robots, 2005.","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131192720","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: 26
Whole-body human-to-humanoid motion transfer 全身人-类人运动转移
5th IEEE-RAS International Conference on Humanoid Robots, 2005. Pub Date : 2005-12-05 DOI: 10.1109/ICHR.2005.1573553
N. Naksuk, C. S. G. Lee, S. Rietdyk
{"title":"Whole-body human-to-humanoid motion transfer","authors":"N. Naksuk, C. S. G. Lee, S. Rietdyk","doi":"10.1109/ICHR.2005.1573553","DOIUrl":"https://doi.org/10.1109/ICHR.2005.1573553","url":null,"abstract":"This paper explores movement transfer from humans to humanoid robots. Our goal is to produce human-like motions in humanoid robots by capturing human motions and transferring these motions to humanoid robots. One crucial problem in human-humanoid motion transfer is the discrepancy between human and humanoid robot dynamic models. This model discrepancy generally results in an unbalanced motion as well as unnatural movement when the human motions are utilized by humanoid robots. In this paper, balance adjustment and angular-momentum adjustment schemes are proposed and applied to minimize the effect of the model discrepancy. The proposed schemes yield balance humanoid motions with minimal-angular momentum at the center of mass (CoM). Experiments were performed to capture human motions, and computer simulations were conducted to illustrate the performance and consistency of the proposed approach","PeriodicalId":192337,"journal":{"name":"5th IEEE-RAS International Conference on Humanoid Robots, 2005.","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121435860","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: 46
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