2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)最新文献

Autonomous Bipedal Humanoid Grasping with Base Repositioning and Whole-Body Control 自主双足仿人抓取与基础定位与全身控制

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8624998

A. M. Sundaram, Bernd Henze, O. Porges, Zoltán-Csaba Márton, M. Roa

引用次数: 2

Study of Toe Joints to Enhance Locomotion of Humanoid Robots

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8625052

Shlok Agarwal, Marko B. Popovic

引用次数: 5

Learning Whole-Body Motor Skills for Humanoids 学习全身运动技能的人形

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8625045

Chuanyu Yang, Kai Yuan, W. Merkt, T. Komura, S. Vijayakumar, Zhibin Li

引用次数: 34

Can a Humanoid Robot Spot a Liar? 人形机器人能识破说谎者吗?

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8624992

A. M. Aroyo, Jonas Gonzalez-Billandon, Alessia Tonelli, A. Sciutti, M. Gori, G. Sandini, F. Rea

引用次数: 9

2018 IEEE-RAS 18th International Conference on Humanoid Robots 2018 IEEE-RAS第18届国际人形机器人会议

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/humanoids.2018.8625043

J. Garcia-Haro, S. Martinez, C. Balaguer

{"title":"2018 IEEE-RAS 18th International Conference on Humanoid Robots","authors":"J. Garcia-Haro, S. Martinez, C. Balaguer","doi":"10.1109/humanoids.2018.8625043","DOIUrl":"https://doi.org/10.1109/humanoids.2018.8625043","url":null,"abstract":"Humanoid robots are designed to perform tasks in the same way than humans do. One of these tasks is to act as a waiter serving drinks, food, etc. Transporting all these items can be considered a manipulation task. In this application, the objects are transported over a tray, without grasping them. The consequence is that the objects are not firmly attached to the robot, which is the case in grasping. Then, the complexity of robotics grasping is avoided but stability issues arise. The problem of keeping balance of the object transported by a robot over a tray is discussed in this paper. The approach presented is based on the computation of the Zero Moment Point (ZMP) of the object, which is modelled as a three dimensional Linear Inverted Pendulum Model (3D-LIPM). The use of force-torque sensors located at the wrist enables ZMP computation, but the main problem to be solved is how the robot should react when the object losses balance. One strategy is to rotate the tray to counteract the rotation of the object. This rotation has to be proportional to the ZMP variation and the object’s rotation angle. This issue is solved by applying the concept of three dimensional dynamic slopes. It helps to avoid kinematic problems and make balance computation independent from the angle of the tray.","PeriodicalId":433345,"journal":{"name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","volume":"158 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122632914","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

Implementation of Stable and Efficient Hopping with Serial Elastic Actuators 用串联弹性作动器实现稳定高效跳频

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8625059

Yichao Mao, Jing Xu, Qiuguo Zhu, Jun Wu, R. Xiong

{"title":"Implementation of Stable and Efficient Hopping with Serial Elastic Actuators","authors":"Yichao Mao, Jing Xu, Qiuguo Zhu, Jun Wu, R. Xiong","doi":"10.1109/HUMANOIDS.2018.8625059","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2018.8625059","url":null,"abstract":"Inspired by biological systems, robots that exploit the natural dynamics of compliant joints are developed in recent years to obtain stable and efficient locomotion. In these robots, series elastic actuator (SEA) is widely used due to its compliant property and energy storage capacity. However, robots that are equipped with SEA have drawbacks of substantial delay and limited bandwidth. Additionally, high speed locomotion also engenders severe vibration and cause noise pollution in posture measurement of the robot. These inevitable features make the efficient robots hard to demonstrate precise control and perform dynamic balance. To cope with these problems, beside traditional hopping and foot hold selection algorithms, two methods are proposed in this paper for consecutive hopping: (l)a position controller which generates active damping to stabilize the joint position;(2)a learning algorithm for body balance control. The learning algorithm discretizes the continuous control problem into phases and adopts integration form of body dynamics to maintain balance. Instead of empirically tuning the control parameters, model identification and learning algorithms are employed to automatically tune these proposed controllers. Experiments were conducted on SEA based single leg robot by swinging leg between two demanded position and maintaining body balance during consecutive hopping. By combining the proposed algorithms, stable and efficient hopping was implemented.","PeriodicalId":433345,"journal":{"name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121903950","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

Utilizing Human Feedback in POMDP Execution and Specification 在POMDP执行和规范中利用人的反馈

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8625022

Janine Hoelscher, Dorothea Koert, Jan Peters, J. Pajarinen

{"title":"Utilizing Human Feedback in POMDP Execution and Specification","authors":"Janine Hoelscher, Dorothea Koert, Jan Peters, J. Pajarinen","doi":"10.1109/HUMANOIDS.2018.8625022","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2018.8625022","url":null,"abstract":"In many environments, robots have to handle partial observations, occlusions, and uncertainty. In this kind of setting, a partially observable Markov decision process (POMDP) is the method of choice for planning actions. However, especially in the presence of non-expert users, there are still open challenges preventing mass deployment of POMDPs in human environments. To this end, we present a novel approach that addresses both incorporating user objectives during task specification and asking humans for specific information during task execution; allowing for mutual information exchange. In POMDPs, the standard way of using a reward function to specify the task is challenging for experts and even more demanding for non-experts. We present a new POMDP algorithm that maximizes the probability of task success defined in the form of intuitive logic sentences. Moreover, we introduce the use of targeted queries in the POMDP model, through which the robot can request specific information. In contrast, most previous approaches rely on asking for full state information which can be cumbersome for users. Compared to previous approaches our approach is applicable to large state spaces. We evaluate the approach in a box stacking task both in simulations and experiments with a 7-DOF KUKA LWR arm. The experimental results confirm that asking targeted questions improves task performance significantly and that the robot successfully maximizes the probability of task success while fulfilling user-defined task objectives.","PeriodicalId":433345,"journal":{"name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","volume":"90 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129829074","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

Force-Based Learning of Variable Impedance Skills for Robotic Manipulation 基于力的机器人操作变阻抗技能学习

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8624938

Fares J. Abu-Dakka, L. Rozo, D. Caldwell

{"title":"Force-Based Learning of Variable Impedance Skills for Robotic Manipulation","authors":"Fares J. Abu-Dakka, L. Rozo, D. Caldwell","doi":"10.1109/HUMANOIDS.2018.8624938","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2018.8624938","url":null,"abstract":"Numerous robotics tasks involve complex physical interactions with the environment, where the role of variable impedance skills and the information of contact forces are crucial for successful performance. The dynamicity of our environments demands robots to adapt their manipulation skills to a large variety of situations, where learning capabilities are necessary. In this context, we propose a framework to teach a robot to perform manipulation tasks by integrating force sensing and variable impedance control. This framework endows robots with force-based variable stiffness skills that become relevant when vision information is unavailable or uninformative. Such skills are built on stiffness estimations that are computed from human demonstrations, which are then used along with sensed forces, to encode a probabilistic model of the robot skill. The resulting model is later used to retrieve time-varying stiffness profiles. We study two different stiffness representations based on (i) Cholesky decomposition, and (ii) Riemannian manifolds. For validation, we use a simulation of a 2D mass-spring-damper system subject to external forces, and a real experiment where a 7- DoF robot learns to perform a valve-turning task by varying its Cartesian stiffness.","PeriodicalId":433345,"journal":{"name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128343171","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

Coupling Reduced Order Models via Feedback Control for 3D Underactuated Bipedal Robotic Walking 基于反馈控制的三维欠驱动双足机器人耦合降阶模型

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8625066

Xiaobin Xiong, A. Ames

引用次数: 27

Evaluating Robot Manipulability in Constrained Environments by Velocity Polytope Reduction 基于速度多面体约简的约束环境下机器人可操作性评估

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8624962

P. Long, T. Padır

引用次数: 14