Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots最新文献_第4页

Simulation and design of 3-DOF eye mechanism using Listing’s law 基于李氏定律的三自由度眼机构仿真与设计

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755990

A. Mehmood, B. Camescasse, F. Ouezdou, G. Cheng

引用次数: 7

Learning potential-based policies from constrained motion 从受限运动中学习基于势的策略

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755977

M. Howard, Stefan Klanke, M. Gienger, C. Goerick, S. Vijayakumar

引用次数: 10

Preparatory object rotation as a human-inspired grasping strategy 预备对象旋转作为一种受人类启发的抓取策略

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4756026

Lillian Y. Chang, G. Zeglin, N. Pollard

{"title":"Preparatory object rotation as a human-inspired grasping strategy","authors":"Lillian Y. Chang, G. Zeglin, N. Pollard","doi":"10.1109/ICHR.2008.4756026","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4756026","url":null,"abstract":"Humans exhibit a rich set of manipulation strategies that may be desirable to mimic in humanoid robots. This study investigates preparatory object rotation as a manipulation strategy for grasping objects from different presented orientations. First, we examine how humans use preparatory rotation as a grasping strategy for lifting heavy objects with handles. We used motion capture to record human manipulation examples of 10 participants grasping objects under different task constraints. When sliding contact of the object on the surface was permitted, participants used preparatory rotation to first adjust the object handle to a desired orientation before grasping to lift the object from the surface. Analysis of the human examples suggests that humans may use preparatory object rotation in order to reuse a particular type of grasp in a specific capture region or to decrease the joint torques required to maintain the lifting pose. Second, we designed a preparatory rotation strategy for an anthropomorphic robot manipulator as a method of extending the capture region of a specific grasp prototype. The strategy was implemented as a sequence of two open-loop actions mimicking the human motion: a preparatory rotation action followed by a grasping action. The grasping action alone can only successfully lift the object from a 45-degree region of initial orientations (4 of 24 tested conditions). Our empirical evaluation of the robot preparatory rotation shows that even using a simple open-loop rotation action enables the reuse of the grasping action for a 360-degree capture region of initial object orientations (24 of 24 tested conditions).","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"13 4-5 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":"123729309","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: 31

Development of a new wrist for the next generation of the humanoid robot ARMAR 为下一代人形机器人ARMAR开发一种新的手腕

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755930

A. Albers, J. Ottnad, C. Sander

引用次数: 5

Motion imitation and recognition using parametric hidden Markov models 基于参数隐马尔可夫模型的运动模仿与识别

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4756002

D. Herzog, A. Ude, V. Krüger

{"title":"Motion imitation and recognition using parametric hidden Markov models","authors":"D. Herzog, A. Ude, V. Krüger","doi":"10.1109/ICHR.2008.4756002","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4756002","url":null,"abstract":"The recognition and synthesis of parametric movements play an important role in human-robot interaction. To understand the whole purpose of an arm movement of a human agent, both its recognition (e. g., pointing or reaching) as well as its parameterization (i. e., where the agent is pointing at) are important. Only together they convey the whole meaning of an action. Similarly, to imitate a movement, the robot needs to select the proper action and parameterize it, e. g., by the relative position of the object that needs to be grasped. We propose to utilize parametric hidden Markov models (PHMMs), which extend the classical HMMs by introducing a joint parameterization of the observation densities, to simultaneously solve the problems of action recognition, parameterization of the observed actions, and action synthesis. The proposed approach was fully implemented on a humanoid robot HOAP-3. To evaluate the approach, we focused on reaching and pointing actions. Even though the movements are very similar in appearance, our approach is able to distinguish the two movement types and discover the parameterization, and is thus enabling both, action recognition and action synthesis. Through parameterization we ensure that the synthesized movements can be applied to different configurations of the external world and are thus suitable for actions that involve the manipulation of objects.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"22 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":"125245023","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: 25

Safe joint mechanism using double slider mechanism and spring for humanoid robot arm 人形机械臂采用双滑块机构和弹簧的安全关节机构

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755934

Hwisu Kim, J. Park, Jae-Bok Song

{"title":"Safe joint mechanism using double slider mechanism and spring for humanoid robot arm","authors":"Hwisu Kim, J. Park, Jae-Bok Song","doi":"10.1109/ICHR.2008.4755934","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4755934","url":null,"abstract":"In recent years, collision safety between a human and a robot has drawn much attention as service robots and humanoids are increasingly being used in the human environment. Safety of a robot arm can be achieved by either active or passive compliance system. Since active compliance systems with actuators are usually slow and expensive, several passive compliance systems with purely mechanical elements are proposed. Passive systems can provide faster response to collision and higher reliability than active systems. Since both positioning accuracy and collision safety are equally important, a robot arm should have very low stiffness when subjected to a collision force greater than the one causing human injury, but maintain very high stiffness otherwise. In order to implement these requirements, a safe joint mechanism composed of a linear spring, slider-crank mechanism, and 4-bar linkage is proposed in this research. Various experiments on static and dynamic collisions show high stiffness of the SJM against an external force of less than the pre-determined threshold force, but an abrupt drop in the stiffness when the external force exceeds this threshold, which guarantees positioning accuracy and collision safety.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"99 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":"131930084","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: 13

Gait pattern generation with knee stretch motion for biped robot using toe and heel joints 基于脚趾和脚跟关节的双足机器人膝关节伸展运动步态模式生成

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755956

Nandha Handharu, Jungwon Yoon, Gabsoon Kim

{"title":"Gait pattern generation with knee stretch motion for biped robot using toe and heel joints","authors":"Nandha Handharu, Jungwon Yoon, Gabsoon Kim","doi":"10.1109/ICHR.2008.4755956","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4755956","url":null,"abstract":"This paper presents a new alternative methodology to generate gait pattern with a knee stretched motion for biped robot utilizing toe and heel joints. During walking sequence, human heels act as passive joints that create some support area which enhances the stability of human walking. This research tries to replace human-heel like mechanism with a heel joint in the biped robot foot. The existence of heel joints in the biped robot feet has two main advantages. The first one is that the support area during double support phase will be increased. Secondly, singularity during knee stretch motion can be avoided. The loss of degree of freedom in the knee joint will not produce singularity in the inverse kinematics solution since there is still another degree of freedom in the heel joint. The effectiveness of the algorithm is being studied through a dynamic simulation tool. A stable knee stretch walking pattern utilizing toe and heel joints was generated, which has some similarity to the human walking pattern. Effectiveness of the proposed algorithm in terms of joint torque requirements as well as energy consumptions have also been shown.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"49 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":"131737343","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: 45

Grasp synthesis in cluttered environments for dexterous hands 掌握合成在混乱的环境灵巧的手

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755944

D. Berenson, S. Srinivasa

{"title":"Grasp synthesis in cluttered environments for dexterous hands","authors":"D. Berenson, S. Srinivasa","doi":"10.1109/ICHR.2008.4755944","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4755944","url":null,"abstract":"We present an algorithm for efficiently generating collision-free force-closure grasps for dexterous hands in cluttered environments. Computing a grasp is complicated by the high dimensionality of the hand configuration space, and the high cost of validating a candidate grasp by collision-checking and testing for force-closure. When an object is placed in a new scene, we use a novel cost function to focus our search to good regions of hand pose space for a given preshape. The proposed cost function is fast to compute and encapsulates aspects of the object, the scene, and the force-closure of the ensuing grasp. The low-cost candidate grasps produced by the search are then validated. We demonstrate the generality of our approach by testing on the 3-fingered 4DOF barrett hand and the anthropomorphic 22DOF shadow hand. We also propose an extension of the algorithm for two-handed grasps and demonstrate it on the HRP3 hands. Our results show that the candidate grasps generated by our algorithm consistently have high probability of being valid for various hands, objects and scenes. Finally, we describe an implementation on a WAM arm with a barrett hand.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"58 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":"133424059","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: 84

Shock absorbing skin design for human-symbiotic robot at the worst case collision 人机共生机器人最坏碰撞减震皮肤设计

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755998

T. Sugaiwa, H. Iwata, S. Sugano

引用次数: 25

BITBot-a modelling and simulation platform for robots bitbot -机器人建模与仿真平台

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755996

Quanyu Wang, Bin Lu, Xin Lu

引用次数: 0