2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids)最新文献_第2页

Motion Generation and Control of Acrobatic Motion Synergies Emerging From the Momentum Equilibrium Principle 基于动量平衡原理的杂技动作协同的运动生成与控制

2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids) Pub Date : 2021-07-19 DOI: 10.1109/HUMANOIDS47582.2021.9555678

R. Iizuka, D. Nenchev, D. Sato

引用次数: 0

Pushing cylinders: Expanding on object-based manipulation 推圆柱体:扩展基于对象的操作

2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids) Pub Date : 2021-07-19 DOI: 10.1109/HUMANOIDS47582.2021.9555771

Daniel García-Vaglio, Javier Peralta-Sáenz, Federico Ruiz-Ugalde

引用次数: 0

MPC-based Locomotion Control of Bipedal Robots with Line-Feet Contact using Centroidal Dynamics. 基于质心动力学的线足接触双足机器人运动控制。

2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids) Pub Date : 2021-07-19 DOI: 10.1109/HUMANOIDS47582.2021.9555775

Gabriel García, Robert J. Griffin, J. Pratt

引用次数: 15

Calibration of an Elastic Humanoid Upper Body and Efficient Compensation for Motion Planning 弹性人形上体标定及运动规划的有效补偿

2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids) Pub Date : 2021-07-19 DOI: 10.1109/HUMANOIDS47582.2021.9555793

Johannes Tenhumberg, B. Bäuml

{"title":"Calibration of an Elastic Humanoid Upper Body and Efficient Compensation for Motion Planning","authors":"Johannes Tenhumberg, B. Bäuml","doi":"10.1109/HUMANOIDS47582.2021.9555793","DOIUrl":"https://doi.org/10.1109/HUMANOIDS47582.2021.9555793","url":null,"abstract":"High absolute accuracy is an essential prerequisite for a humanoid robot to autonomously and robustly perform manipulation tasks while avoiding obstacles. We present for the first time a kinematic model for a humanoid upper body incorporating joint and transversal elasticities. These elasticities lead to significant deformations due to the robot’s own weight, and the resulting model is implicitly defined via a torque equilibrium. We successfully calibrate this model for DLR’s humanoid Agile Justin, including all Denavit–Hartenberg parameters and elasticities. The calibration is formulated as a combined least-squares problem with priors and based on measurements of the end effector positions of both arms via an external tracking system. The absolute position error is massively reduced from 21 mm to 3.1 mm on average in the whole workspace. Using this complex and implicit kinematic model in motion planning is challenging. We show that for optimization-based path planning, integrating the iterative solution of the implicit model into the optimization loop leads to an elegant and highly efficient solution. For mildly elastic robots like Agile Justin, there is no performance impact, and even for a simulated highly flexible robots with 20 times higher elasticities, the runtime increases by only 30%.","PeriodicalId":320510,"journal":{"name":"2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids)","volume":"88 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126360707","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

An Integrated, Force-Sensitive, Impedance Controlled, Tendon-Driven Wrist: Design, Modeling, and Control 一个集成的，力敏感的，阻抗控制的，肌腱驱动的手腕:设计，建模和控制

2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids) Pub Date : 2021-07-19 DOI: 10.1109/HUMANOIDS47582.2021.9555777

Alexander Toedtheide, Johannes Kühn, Edmundo Pozo Fortunic, S. Haddadin

{"title":"An Integrated, Force-Sensitive, Impedance Controlled, Tendon-Driven Wrist: Design, Modeling, and Control","authors":"Alexander Toedtheide, Johannes Kühn, Edmundo Pozo Fortunic, S. Haddadin","doi":"10.1109/HUMANOIDS47582.2021.9555777","DOIUrl":"https://doi.org/10.1109/HUMANOIDS47582.2021.9555777","url":null,"abstract":"This paper presents a novel 2 degrees of freedom humanoid wrist with solely three tendons, based on an integrated 3S$overline{P}$S-1U parallel kinematics (the $overline{P}$ indicates the active degree of freedom) and driven by three electromechanical motors. Tendon-force measurement and control, combined with nonlinear kinematics mapping enable the implementation of a oint-level impedance controller, virtual walls, a momentum oberver and a virtual joint-torque sensor. The novel mechanical esign, especially the drive-train and the tendon force measurenent module, are discussed in the paper. Simulations show the easibility of the control methods. A static workspace analysis - eveals a configuration depending torque with a theoretical maximum torque of 6.1 Nm or 9.3 Nm (depending on the used gear ratio). All control modes as well as human interaction are validated experimentally. First experiments on a humanoid arm are shown. An experimental performance of a maximum speed of 400 deg/s, a maximum payload of 2.5 kg (lever arm 16 cm) and an accuracy of less than 0.1 deg (95% confidence interval) are achieved.","PeriodicalId":320510,"journal":{"name":"2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114579934","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

A vertical jump optimization strategy for one-legged robot with variable reduction ratio joint 可变减速比单足机器人垂直跳跃优化策略

2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids) Pub Date : 2021-07-19 DOI: 10.1109/HUMANOIDS47582.2021.9555679

Haoxiang Qi, Xuechao Chen, Zhangguo Yu, Gao Huang, Libo Meng, K. Hashimoto, Wen-Xiong Liao, Qiang Huang

引用次数: 2

Using Subject-Specific Models to find Differences in Underlying optimization Criteria of Sprinting with and without Prostheses 使用特定受试者模型寻找带假体和不带假体短跑潜在优化标准的差异

2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids) Pub Date : 2021-07-19 DOI: 10.1109/HUMANOIDS47582.2021.9555685

Anna Lena Emonds, K. Mombaur

{"title":"Using Subject-Specific Models to find Differences in Underlying optimization Criteria of Sprinting with and without Prostheses","authors":"Anna Lena Emonds, K. Mombaur","doi":"10.1109/HUMANOIDS47582.2021.9555685","DOIUrl":"https://doi.org/10.1109/HUMANOIDS47582.2021.9555685","url":null,"abstract":"A comprehensive knowledge of the underlying criteria of sprint motions, both of non-amputee and below-knee amputee athletes, is helpful for design improvement of prosthetic devices or towards a fair judgment of (dis-)advantage due to the running-specific prosthesis. For the study of sprint motions with and without running-specific prostheses, we created rigid multi-body system models of three non-amputee and one unilateral transtibial amputee athlete. We restricted the motions to the sagittal plane, ending up with 16 degrees of freedom (DOFs). The internal rotational DOFs are controlled by joint torque actuators. As the prosthetic device has to be passive, the joint torque actuator is replaced by a linear spring-damper system in the prosthetic ankle joint. The aim of our study is to identify the optimal weight factors which combine five elementary optimization criteria in such a way that the resulting synthesized motions comes as close as possible to recorded reference motions. To this aim, we formulated an inverse optimal control problem (IOCP) as a bi-level problem: In the outer loop, the weight factors are adapted such that the comparison of the reference motion and the solutions of the optimal control problem (OCP) which computes sprint motions in the inner loop match each other as close as possible. In contrast to previous studies, we investigated more athletes, added subject-specific joint torque limits based on Muscle Torque Generators and left the average velocities of the running motions free. For all four athletes, we identified a set of optimal weights that generates sprint motions which closely match the recorded reference motion. Significant differences in the identified weights between amputee and non-amputee sprinting have been found. Especially angular momentum control plays a decisive role in unilateral transtibial amputee sprinting.","PeriodicalId":320510,"journal":{"name":"2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122632207","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

HubRobo: A Lightweight Multi-Limbed Climbing Robot for Exploration in Challenging Terrain HubRobo:一种用于挑战地形探索的轻型多肢攀爬机器人

2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids) Pub Date : 2021-07-19 DOI: 10.1109/HUMANOIDS47582.2021.9555799

Kentaro Uno, Naomasa Takada, T. Okawara, Keigo Haji, Arthur Candalot, Warley F. R. Ribeiro, K. Nagaoka, Kazuya Yoshida

引用次数: 11

Wolfgang-OP: A Robust Humanoid Robot Platform for Research and Competitions Wolfgang-OP:一种鲁棒类人机器人研究与竞赛平台

2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids) Pub Date : 2021-07-19 DOI: 10.1109/HUMANOIDS47582.2021.9555808

Marc Bestmann, Jasper Güldenstein, Florian Vahl, Jianwei Zhang

引用次数: 2

Fitness Shaping on SLIP Locomotion Optimization 滑移运动优化中的适应度整形

2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids) Pub Date : 2021-07-19 DOI: 10.1109/HUMANOIDS47582.2021.9555784

Claudio S. Ravasio, F. Iida, A. Rosendo

{"title":"Fitness Shaping on SLIP Locomotion Optimization","authors":"Claudio S. Ravasio, F. Iida, A. Rosendo","doi":"10.1109/HUMANOIDS47582.2021.9555784","DOIUrl":"https://doi.org/10.1109/HUMANOIDS47582.2021.9555784","url":null,"abstract":"Walking robots have been a thriving topic for years, and their impact in our future is undeniable. Through different walking techniques machines match their control parameters to environmental conditions, and in both simulation and real-world this control optimization always requires many iterations to find the best parameter. We benchmark four optimization methods and two fitness shaping methods to assess how fast a locomotion model, with two control parameters, can converge to stability. We find that a best overall solution does not exist, with inference-based methods such as Bayesian Optimization in some cases being as inefficient as Random Search. Fitness Shaping using additional information provided by the simulation after termination is shown to improve optimization speed in the presence of running gaits. Additionally, our results validate Bayesian optimization as the fastest optimization method for walking gaits, and present Neural Networks as the fastest for running gaits and. In the presence of so many methods and models, this comparative study aims to clarify the potential gains for optimization methods in bipedal locomotion.","PeriodicalId":320510,"journal":{"name":"2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131819470","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