2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)最新文献_第10页

Dexterity augmentation on a synergistic hand: The Pisa/IIT SoftHand+ 在一个协同手灵巧增强:比萨/IIT软手+

2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids) Pub Date : 2015-12-28 DOI: 10.1109/HUMANOIDS.2015.7363595

C. D. Santina, G. Grioli, M. Catalano, Alberto Brando, A. Bicchi

引用次数: 56

Task-level teleoperated manipulation for the HRP-2Kai humanoid robot HRP-2Kai人形机器人的任务级遥控操作

2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids) Pub Date : 2015-12-28 DOI: 10.1109/HUMANOIDS.2015.7363506

Rafael Cisneros, S. Kajita, T. Sakaguchi, Shin'ichiro Nakaoka, M. Morisawa, K. Kaneko, F. Kanehiro

引用次数: 18

Where is my keyboard? Model-based active adaptation of action-space in a humanoid robot 我的键盘在哪里?基于模型的仿人机器人动作空间主动自适应

2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids) Pub Date : 2015-12-28 DOI: 10.1109/HUMANOIDS.2015.7363424

A. Ribes, J. Cerquides, Y. Demiris, R. L. D. Mántaras

引用次数: 1

Development of life-sized high-power humanoid robot JAXON for real-world use 开发真人大小的高功率人形机器人JAXON用于现实世界

2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids) Pub Date : 2015-12-28 DOI: 10.1109/HUMANOIDS.2015.7363459

Kunio Kojima, Tatsuhi Karasawa, Toyotaka Kozuki, Eisoku Kuroiwa, Sou Yukizaki, Satoshi Iwaishi, T. Ishikawa, Ryo Koyama, Shintaro Noda, Fumihito Sugai, Shunichi Nozawa, Youhei Kakiuchi, K. Okada, M. Inaba

{"title":"Development of life-sized high-power humanoid robot JAXON for real-world use","authors":"Kunio Kojima, Tatsuhi Karasawa, Toyotaka Kozuki, Eisoku Kuroiwa, Sou Yukizaki, Satoshi Iwaishi, T. Ishikawa, Ryo Koyama, Shintaro Noda, Fumihito Sugai, Shunichi Nozawa, Youhei Kakiuchi, K. Okada, M. Inaba","doi":"10.1109/HUMANOIDS.2015.7363459","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2015.7363459","url":null,"abstract":"This paper presents the development of life-sized high-power humanoid robot JAXON. Humanoid robots for disaster relief assistance need the same degree of physical performance as humans. We have developed STARO as the high-power humanoid robot with a high degree of physical performance. However this is not enough for practical use of the humanoid robot in a disaster site. We consider the following as additional conditions to operate humanoid robots for disaster relief assistance outside of the lab in outdoor environments. 1) Robots have humanlike body proportion to work in infrastructure matched to human body structure. 2) Robots have energy sources such as batteries and act without tethers. 3) Robots walk with two legs or four limbs and continue to work without fatal damage in unexpected rollover. JAXON satisfied these conditions. We demonstrates the performance of JAXON through the experiment of getting out of a vehicle, stepping over walls, and operating on batteries. Further more, we assesses the performance of the strong armor and the shock absorbing structure through a backward over-turning accident.","PeriodicalId":417686,"journal":{"name":"2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134518434","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: 89

Local Update Dynamic Policy Programming in reinforcement learning of pneumatic artificial muscle-driven humanoid hand control 气动人工肌肉驱动人形手控制强化学习中的局部更新动态策略规划

2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids) Pub Date : 2015-12-28 DOI: 10.1109/HUMANOIDS.2015.7363503

Yunduan Cui, Takamitsu Matsubara, Kenji Sugimoto

{"title":"Local Update Dynamic Policy Programming in reinforcement learning of pneumatic artificial muscle-driven humanoid hand control","authors":"Yunduan Cui, Takamitsu Matsubara, Kenji Sugimoto","doi":"10.1109/HUMANOIDS.2015.7363503","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2015.7363503","url":null,"abstract":"Pneumatic Artificial Muscle (PAM) is an attractive device to be used as an actuator for humanoid robots because of its high power-to-weight ratio and good flexibility. However, both the modeling and the controlling of PAM-driven robots are challenging due to the high nonlinearities of a PAM's air pressure dynamics and its mechanical structure. This paper focuses on applying Reinforcement Learning (RL) to the control of a PAM-driven robots without our knowledge of its model. We propose a new RL algorithm, Local Update Dynamic Policy Programming (LUDPP), as an extension of Dynamic Policy Programming (DPP). This algorithm exploits the nature of smooth policy update of DPP to considerably reduce the computational complexity in both time and space: at each iteration, this algorithm only updates the value function locally throughout the whole state-action space. We applied LUDPP to control one finger (2 DOFs with a 12-dimensional state-action space) of Shadow Dexterous Hand, a PAM-driven humanoid robot hand. Experimental results suggest that our method can achieve successful control of such a robot with a limited computational resource whereas other conventional value function based RL algorithms (DPP, LSPI) cannot.","PeriodicalId":417686,"journal":{"name":"2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)","volume":"249 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134434017","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

Feasibility of cloud enabled humanoid robots: Development of low latency geographically adjacent real-time cloud control 云启用人形机器人的可行性:低延迟地理相邻实时云控制的开发

2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids) Pub Date : 2015-12-28 DOI: 10.1109/HUMANOIDS.2015.7363582

D. Lofaro, Arvin Asokan, Edward M. Roderick

{"title":"Feasibility of cloud enabled humanoid robots: Development of low latency geographically adjacent real-time cloud control","authors":"D. Lofaro, Arvin Asokan, Edward M. Roderick","doi":"10.1109/HUMANOIDS.2015.7363582","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2015.7363582","url":null,"abstract":"This paper explores the feasibility and proposes a method on how to obtain high frequency real-time controllers operating in loop with physical robot hardware over a geographically adjacent cloud server architecture. Having the cloud in the loop has many purposes including increasing computation, decreasing power usage, reducing overall robot weight etc. Today when robots use the cloud in loop it is typically for sharing information, high level planning, and other non-realtime tasks. All of the balancing and stability algorithms (the heart of the humanoid) stay onboard the robot. What if we could run high frequency real-time loops over the cloud? The better question is how would we do that? As with any real-time system latency is a big factor in the application and operation frequency. This paper shows that with a geographically adjacent server approach it is feasible to obtain high frequency real-time control in loop with with a physical robot over the cloud. The feasibility of such a system running in-loop on humanoids is explored and tested.","PeriodicalId":417686,"journal":{"name":"2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)","volume":"81 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132754338","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

Full-body motion planning and control for the car egress task of the DARPA robotics challenge DARPA机器人挑战赛中汽车出口任务的全身运动规划和控制

2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids) Pub Date : 2015-12-28 DOI: 10.1109/HUMANOIDS.2015.7363583

Chenggang Liu, C. Atkeson, S. Feng, X. Xinjilefu

引用次数: 9

Learning push recovery for a bipedal humanoid robot with Dynamical Movement Primitives 基于动态运动基元的两足仿人机器人学习推送恢复

2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids) Pub Date : 2015-12-28 DOI: 10.1109/HUMANOIDS.2015.7363478

D. Luo, Xiaoqiang Han, Y. Ding, Yang Ma, Zhan Liu, Xihong Wu

{"title":"Learning push recovery for a bipedal humanoid robot with Dynamical Movement Primitives","authors":"D. Luo, Xiaoqiang Han, Y. Ding, Yang Ma, Zhan Liu, Xihong Wu","doi":"10.1109/HUMANOIDS.2015.7363478","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2015.7363478","url":null,"abstract":"Maintaining the balance is always a challenge issue for bipedal humanoid robots in dealing with various locomotive tasks to serve human society, especially when the real environment the robot worked within exhibits to be very complex. Unlike plenty of previous successful approaches on humanoid balancing or push recovery, in this research, the Dynamical Movement Primitives (DMP) is employed to model several typical bio-inspired strategies. As humanoid balancing or push recovery could be regarded as a problem of how a robot to get back to its ongoing behavior when a break happens on account of external force or uneven terrain etc., the DMP model becomes an alternative ideal choice due to its promising nature of attractor. Meanwhile, the DMP composed of a set of differential equations provides a compact parameterized representation in modelling a motion strategy, and thus leads to a strategy model that is suitable to be fulfilled with machine learning techniques. In this research, the learning process for those bio-inspired strategies modeled with DMP are completed by adopting the stochastic policy gradient reinforcement learning and imitation learning separately. Furthermore, with Gaussian Process(GP) regression, push recovery strategies are generalized taking the advantages of the invariance properties of the DMP model. As a consequence, an online adaptive push recovery control strategy is finally achieved. Experimental results on both simulated robot and a real bipedal humanoid robot PKU-HR5 demonstrate the presented approach is effective and promising.","PeriodicalId":417686,"journal":{"name":"2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)","volume":"133 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116268872","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

Whole-body motion planning for humanoids based on CoM movement primitives 基于CoM运动原语的人形机器人全身运动规划

2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids) Pub Date : 2015-12-28 DOI: 10.1109/HUMANOIDS.2015.7363504

Marco Cognetti, Pouya Mohammadi, G. Oriolo

引用次数: 22

Online prediction of activities with structure: Exploiting contextual associations and sequences 具有结构的活动在线预测:利用上下文关联和序列

2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids) Pub Date : 2015-12-28 DOI: 10.1109/HUMANOIDS.2015.7363453

Nicholas H. Kirk, Karinne Ramirez-Amaro, E. Dean-León, Matteo Saveriano, G. Cheng

{"title":"Online prediction of activities with structure: Exploiting contextual associations and sequences","authors":"Nicholas H. Kirk, Karinne Ramirez-Amaro, E. Dean-León, Matteo Saveriano, G. Cheng","doi":"10.1109/HUMANOIDS.2015.7363453","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2015.7363453","url":null,"abstract":"Many human activities, given their intrinsic modularity, present structural information which can be exploited by classification algorithms: this enhances the capability of robots to predict activities. We introduce a semantic reasoning paradigm in which, via logical and statistical learning, we discriminate between actions on the basis of contextual associations. An example of this is considering the co-occurrence of scenario objects when predicting an action. We also combine such probabilistic reasoning with traditional sequence likelihood modeling. The system, given partial execution evidence of a task (e.g. assembling a car), first reasons in logical terms over qualitative primitives to constrain the space of possibilities, and then predicts the most sequentially likely action (e.g. `PickAnd-PutScrew'). A further claim is also the representation of actions in tractable logic, enabling online-capable recognition. Our evaluation, adopting annotated primitives of motion and tool usage, proves that simple sequence-only prediction methods (i.e. bigram sequence information, 59.80%) are outperformed by the proposed polynomial-time context- and sequence-aware inference (i.e. with 8 primitives, various degrees of partial evidence and bigram sequence information, 78.43%), proving the effectiveness of the combined approach.","PeriodicalId":417686,"journal":{"name":"2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)","volume":"124 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121485876","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