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Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots最新文献

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Pattern generation for bipedal walking on slopes and stairs 斜坡和楼梯上两足行走的模式生成
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755946
Weiwei Huang, C. Chew, Yu Zheng, G. Hong
{"title":"Pattern generation for bipedal walking on slopes and stairs","authors":"Weiwei Huang, C. Chew, Yu Zheng, G. Hong","doi":"10.1109/ICHR.2008.4755946","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4755946","url":null,"abstract":"Uneven terrain walking is one of the key challenges in bipedal walking. In this paper, we propose a motion pattern generator for slope walking in 3D dynamics using preview control of zero moment point (ZMP). In this method, the future ZMP locations are selected with respect to known slope gradient. The trajectory of the center of mass (CoM) of the robot is generated by using the preview controller to maintain the ZMP at the desired location. Two models of slope walking, namely upslope and downslope, are investigated. Continuous walking on slopes with different gradients is also studied to enable the robots to walk on uneven terrains. Since staircase walking is similar to slope walking, the slope walking trajectory generator can also be applied to the staircase walking. Simulation results show that the robot can walk on many types of slopes and stairs by using the proposed pattern generator.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124620879","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: 51
Integrating whole body motion primitives and natural language for humanoid robots 人形机器人全身运动原语与自然语言的融合
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755976
W. Takano, Yoshihiko Nakamura
{"title":"Integrating whole body motion primitives and natural language for humanoid robots","authors":"W. Takano, Yoshihiko Nakamura","doi":"10.1109/ICHR.2008.4755976","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4755976","url":null,"abstract":"This paper describes the novel approach to integration of natural language processing and symbolization of motion patterns in order to allow for humanoid robotpsilas acquisition of language. This framework consists of two models : motion language model and natural language model. In the motion language model, morpheme words are stochastically associated with symbolized motion patterns via latent variables. The association is defined by probability that the motion pattern generates the latent variable and probability that the latent variable generates the morpheme word. The natural language model represents order relation among the morpheme words via word classes by using hidden Markov model. The motion language model and the natural language model are equivalent to semantics and syntax respectively. Integration of the motion language model and the natural language model achieves linguistic interpretation of motion patterns by composing semantically and syntactically appropriate sentence. The efficient algorithm for the composition is proposed. The validity of the motion language model, the natural language model and the integration is demonstrated by testing the implemented algorithm on human motion data.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125489388","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: 24
Humanoid navigation planning using future perceptive capability 使用未来感知能力的人形导航规划
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755972
P. Michel, Joel E. Chestnutt, S. Kagami, K. Nishiwaki, J. Kuffner, T. Kanade
{"title":"Humanoid navigation planning using future perceptive capability","authors":"P. Michel, Joel E. Chestnutt, S. Kagami, K. Nishiwaki, J. Kuffner, T. Kanade","doi":"10.1109/ICHR.2008.4755972","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4755972","url":null,"abstract":"We present an approach to navigation planning for humanoid robots that aims to ensure reliable execution by augmenting the planning process to reason about the robotpsilas ability to successfully perceive its environment during operation. By efficiently simulating the robotpsilas perception system during search, our planner generates a metric, the so-called perceptive capability, that quantifies the dasiasensabilitypsila of the environment in each state given the task to be accomplished. We have applied our method to the problem of planning robust autonomous walking sequences as performed by an HRP-2 humanoid. A fast GPU-accelerated 3D tracker is used for perception, with a footstep planner incorporating reasoning about the robotpsilas perceptive capability. When combined with a controller capable of adaptively adjusting the height of swing leg trajectories, HRP-2 is able to navigate around obstacles and climb stairs in dynamically changing environments. Reasoning about the future perceptive capability ensures that sensing remains operational throughout the walking sequence and yields higher task success rates than perception-unaware planning.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"175 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116152199","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: 5
One-leg jumping with virtual spring principle 虚拟弹簧原理单腿跳
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755928
A. Kawamura, Chi Zhu
{"title":"One-leg jumping with virtual spring principle","authors":"A. Kawamura, Chi Zhu","doi":"10.1109/ICHR.2008.4755928","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4755928","url":null,"abstract":"One-leg jumping of a biped robot with virtual spring principle is proposed and experimentally implemented. A biped robot is modeled and controlled as a simple mass-spring system, and its trajectories for jumping and landing are consequently planned as the mass-spring system. The jumping condition and necessary constraint conditions are deduced. Finally one-leg jumping of 130[ms] flight time is achieved with our developed biped robot MARI-3.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129126605","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: 4
Study of an external passive shock-absorbing mechanism for walking robots 行走机器人外部被动减震机构的研究
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755991
A. David, J. Chardonnet, A. Kheddar, K. Kaneko, K. Yokoi
{"title":"Study of an external passive shock-absorbing mechanism for walking robots","authors":"A. David, J. Chardonnet, A. Kheddar, K. Kaneko, K. Yokoi","doi":"10.1109/ICHR.2008.4755991","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4755991","url":null,"abstract":"This paper proposes a compliant sole as an external shock-absorbing mechanism and investigates its effect comparatively to an ankle-located joint-flexible mechanism. The proposed mechanism is mounted under the HRP-2 humanoid feet only using simulation. The comparative evaluation has been conducted for contact resulting from walking using the HRP-2 embedded pattern-generator. The characteristics of the sole material, Young and Poisson coefficients, are set following an ad-hoc minimization of their influence on the vertical acceleration and lateral inclination. Preliminary results suggest that the solution proposed is worth to be considered further and to be developed for real application use.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115202978","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: 14
Simplest dynamic walking model with toed feet 最简单的带趾足动态行走模型
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755952
R. P. Kumar, Jungwon Yoon, Gabsoon Kim
{"title":"Simplest dynamic walking model with toed feet","authors":"R. P. Kumar, Jungwon Yoon, Gabsoon Kim","doi":"10.1109/ICHR.2008.4755952","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4755952","url":null,"abstract":"This paper presents a dynamic walking model with toed feet that can walk down a gentle slope under the action of gravity alone. The model is the simplest of its kind with a point mass at the hip and two rigid legs each hinged at the hip on one end and equipped with toed foot at the other end. We investigate two cases of the model, one with massless legs and another with infinitesimal leg masses. Rotation of the stance foot about the toe joint is initiated by ankle-strike, which is caused by the inelastic collision of the stance leg with a stop mounted on the stance foot. Numerical simulations of walking show that larger step lengths and higher speeds can be achieved than what is achievable by a point-feet walker of same hip mass and leg lengths. The characteristics of deterministic gait with infinitesimal leg masses is compared with that of nondeterministic gait with zero leg masses. It is shown that deterministic gait does not give maximum speed and efficiency compared to nondeterministic gait with swing leg control. Finally, active dynamic walking of the proposed walker is discussed.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126608570","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: 9
SURALP-L - The leg module of a new humanoid robot platform SURALP-L——一种新型人形机器人平台的腿部模块
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755963
K. Erbatur, Utku Seven, E. Taskíran, Özer Koca, G. Kiziltas, M. Unel, A. Sabanoviç, A. Onat
{"title":"SURALP-L - The leg module of a new humanoid robot platform","authors":"K. Erbatur, Utku Seven, E. Taskíran, Özer Koca, G. Kiziltas, M. Unel, A. Sabanoviç, A. Onat","doi":"10.1109/ICHR.2008.4755963","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4755963","url":null,"abstract":"SURALP is a new walking humanoid robot platform designed at Sabanci University - Turkey. When completed, the kinematic arrangement of the robot will consist of 30 independently driven axes, including legs, arms, waist and a neck. Up to now, the 12-degrees-of-freedom (DOF) leg module of the platform, SURALP-L, is built. This paper presents the highlights of the design of this leg module. Mechanical design, actuation mechanisms, sensors, the control hardware and algorithms are introduced. The actuation is based on DC motors, belt and pulley systems and harmonic drive reduction gears. The sensory equipment consists of joint encoders, force/torque sensors and inertial measurement systems. The control hardware is centered around a dSpace digital signal processor. A smooth walking trajectory is generated. A ground impact compensator, an early landing trajectory modification system, controllers for the foot and trunk orientation, and independent joint position controllers are implemented. Experimental walking results with the leg module are obtained too.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"88 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131230455","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: 14
Generation of humanoid walking pattern based on human walking measurement 基于人体步行测量的仿人步行模式生成
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755938
Qiang Huang, Zhangguo Yu, Weimin Zhang, X. Duan, Yuancan Huang, Kejie Li
{"title":"Generation of humanoid walking pattern based on human walking measurement","authors":"Qiang Huang, Zhangguo Yu, Weimin Zhang, X. Duan, Yuancan Huang, Kejie Li","doi":"10.1109/ICHR.2008.4755938","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4755938","url":null,"abstract":"Walking pattern generation has been a crucial issue for humanoid robot. To generate more natural walking patterns, and determine parameters more reasonably, this paper presents a method for humanoid walking pattern generation based on human walking characteristics. The characteristics of human walking parameters were obtained by capturing and analyzing human walking data. Walking pattern parameters are determined by using these characteristics, and then stable and harmonious walking patterns are generated. The effectiveness of the method was verified by experiment result on humanoid robot BHR-2.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"67 10","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113941165","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
Compliance in gait synthesis: Effects on energy and gait 步态合成中的顺应性:对能量和步态的影响
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755955
Michael Scheint, M. Sobotka, M. Buss
{"title":"Compliance in gait synthesis: Effects on energy and gait","authors":"Michael Scheint, M. Sobotka, M. Buss","doi":"10.1109/ICHR.2008.4755955","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4755955","url":null,"abstract":"The role of compliance in walking controller synthesis is explored in this paper. Gait is designed for a simple biped with compliant legs using the concept of hybrid zero dynamics. Simultaneous optimization of gait and leg spring stiffness and optimization of gait at a fixed leg spring stiffnesses is carried out. Different cost functions based on energy are considered. The influence of compliance on gait and the influence of the measure of energy on optimal compliance are investigated. It is shown that minimum actuator energy consumption is obtained if leg stiffness is subject to optimization along with gait parameters. Sum of actuator work and spring work is higher than in optimized stiff-legged gait. Depending on the choice of cost function, fundamental different gait characteristics and optimal stiffnesses are obtained.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130082003","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: 18
Inverse kinematics of a humanoid robot based on conformal geometric algebra using optimized code generation 基于保形几何代数的仿人机器人反运动学优化代码生成
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4756025
Joachim Pitt, D. Hildenbrand, M. Stelzer, A. Koch
{"title":"Inverse kinematics of a humanoid robot based on conformal geometric algebra using optimized code generation","authors":"Joachim Pitt, D. Hildenbrand, M. Stelzer, A. Koch","doi":"10.1109/ICHR.2008.4756025","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4756025","url":null,"abstract":"This paper presents a solution to solve the inverse kinematics for the legs of a humanoid robot using conformal geometric algebra. We geometrically intuitively develop the algorithm with the freely available CLUCalc software and optimize it with the help of the computer algebra system Maple and the Clifford package for geometric algebras. We describe our Gaalop code generator which produces executable C code with just elementary expressions leading to a very efficient implementation.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131206185","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: 14
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