2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)最新文献_第10页

Extended State Machines for Robust Robot Performance in Complex Tasks 复杂任务中鲁棒机器人性能的扩展状态机

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8625065

Vinayak Jagtap, Shlok Agarwal, Sumanth Nirmal, Sahil Kejriwal, M. Gennert

{"title":"Extended State Machines for Robust Robot Performance in Complex Tasks","authors":"Vinayak Jagtap, Shlok Agarwal, Sumanth Nirmal, Sahil Kejriwal, M. Gennert","doi":"10.1109/HUMANOIDS.2018.8625065","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2018.8625065","url":null,"abstract":"Most field robots today work under partial or complete guidance of an operator. The operator monitors, or at times augments, the control inputs of the robot to achieve better results or desired behavior. Robots that are operated remotely and over low bandwidth channels limit the involvement of the operator, leaving them vulnerable to unanticipated scenarios. The NASA Space Robotics Challenge (SRC), held in 2016–17, posed a challenge to operate a simulated Valkyrie R5 humanoid robot over a minimum bandwidth of 64-4k bits/second uplink, 50k-380k bits/second downlink, and a maximum latency of 20 seconds. To achieve this, we designed and implemented extended state machines that allow a robot to perform known tasks autonomously in a partially known environment along with the flexibility to perform system critical interventions manually, if required. The main intuition behind our approach is to combine (a) sensor data redundancy for object detection and (b) 2-stage motion planning approach using state machines to successfully accomplish complex tasks. The complex tasks demonstrated are aligning a communication dish, picking up a solar panel, and deploying solar panels autonomously. The overall system design allowed successful completion of tasks even after subtask failures and/or complete communication loss.","PeriodicalId":433345,"journal":{"name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","volume":"1 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":"131040695","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

The Momentum Equilibrium Principle: Foot Contact Stabilization with Relative Angular Momentum/Velocity 动量平衡原理:足部接触稳定与相对角动量/速度

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8624954

D. Nenchev

{"title":"The Momentum Equilibrium Principle: Foot Contact Stabilization with Relative Angular Momentum/Velocity","authors":"D. Nenchev","doi":"10.1109/HUMANOIDS.2018.8624954","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2018.8624954","url":null,"abstract":"The spatial momentum relation of an underac-tuated articulated multibody system on a floating base is a dynamic equilibrium relation between its coupling and relative momenta. The relative momentum is the difference between the system momentum and the momentum of the composite-rigid-body (CRB) that is obtained when the joints are locked. This relation is referred to as the momentum equilibrium principle. The focus in this work is on the angular momentum component of the momentum equilibrium principle. It is clarified that the relative angular momentum component can be represented in terms of the so-called relative angular velocity that is used as a control input in a balance controller. The balance controller proposed here is a whole-body controller that has independent inputs for center of mass (CoM) velocity and base-link angular velocity control. In addition, the relative angular velocity control input endows the controller with the unique property of generating an appropriate upper-limb motion that can stabilize the system momentum. More specifically, it is shown that when the relative angular velocity is derived from the reaction null-space (RNS) of the system, it becomes possible to stabilize the unstable states with a rolling foot/feet. The formulation is simple and yet quite efficient — there is no need to modify the contact model to account for the transitions between the stable and unstable contact states. There is also no need to command the upper-limb motion directly. A few simulation examples are presented to demonstrate and discuss the properties of the controller.","PeriodicalId":433345,"journal":{"name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","volume":"22 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":"133062263","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

DCM-Based Gait Generation for Walking on Moving Support Surfaces 基于dcm的移动支撑面行走步态生成

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8625006

Johannes Englsberger, George Mesesan, C. Ott, A. Albu-Schäffer

引用次数: 9

Gravity Compensation for Impedance Control of Legged Robots Using Optimizationless Proportional Contact Force Estimation 基于无优化比例接触力估计的足式机器人阻抗控制重力补偿

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8625034

Christopher Yee Wong, Ko Ayusawa, E. Yoshida

{"title":"Gravity Compensation for Impedance Control of Legged Robots Using Optimizationless Proportional Contact Force Estimation","authors":"Christopher Yee Wong, Ko Ayusawa, E. Yoshida","doi":"10.1109/HUMANOIDS.2018.8625034","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2018.8625034","url":null,"abstract":"Impedance control of humanoid robots, a form of compliant control, allows them to move in a fashion similar to humans and increase the safety of interactions with humans or the environment. In low stiffness impedance control, gravitational forces will cause the robot to deviate significantly from the desired position. Thus, a gravity compensation term in the joint motor torque command is required to counteract gravitational forces. Ground reaction forces are sometimes used to estimate the gravity compensation torque required for each joint. In this paper, a novel method to estimate contact forces by using model mass properties and relative force and torque sensor data of each contact point with respect to all loaded limbs is proposed. This simple and straightforward method, called the proportional method, is able to resolve internal forces arising from closed-loop kinematic chains in multi-contact situations, for example the double support phase of bipedal robots, without optimization. The proposed method is also more robust to sensor error and is able to implicitly distinguish between gravitational and external forces for impedance control. Simulations and experiments using the humanoid robot HRP-4 are performed to validate the proposed method.","PeriodicalId":433345,"journal":{"name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","volume":"1 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":"130878897","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

Balance Computation of Objects Transported on a Tray by a Humanoid Robot Based on 3D Dynamic Slopes 基于三维动态斜率的仿人机器人托盘搬运物体平衡计算

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8624920

J. Garcia-Haro, Santiago Martínez de la Casa Díaz, C. Balaguer

{"title":"Balance Computation of Objects Transported on a Tray by a Humanoid Robot Based on 3D Dynamic Slopes","authors":"J. Garcia-Haro, Santiago Martínez de la Casa Díaz, C. Balaguer","doi":"10.1109/HUMANOIDS.2018.8624920","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2018.8624920","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":"106 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":"132370248","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: 11

An Efficient PbD Framework for Fast Deployment of Bi-Manual Assembly Tasks 快速部署双手工装配任务的高效PbD框架

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8625010

B. Nemec, L. Žlajpah, Sebastjan Šlajpah, Jozica Piskur, A. Ude

{"title":"An Efficient PbD Framework for Fast Deployment of Bi-Manual Assembly Tasks","authors":"B. Nemec, L. Žlajpah, Sebastjan Šlajpah, Jozica Piskur, A. Ude","doi":"10.1109/HUMANOIDS.2018.8625010","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2018.8625010","url":null,"abstract":"We propose a two-phase programming by demonstration (PbD) framework, which enables fast deployment of complex bi-manual assembly tasks. The first phase is a pre-learning phase, where the robot observes multiple task demonstrations performed by humans. Applying motion segmentation, it builds a rough plan of the task to be accomplished. Next phase is the policy refinement with incremental learning, performed by the kinesthetic guidance of the robot. In this phase, the robot already knows the rough task plan, so it can actively follow the pre-learned trajectories. The operator can arbitrarily modify the execution speed by simply pushing the robot along the demonstrated trajectory. Moreover, it can drive the robot forward and backward, and incrementally modify only those parts of the trajectory that need the refinement. During this phase, the robot estimates also the interaction forces and environmental compliance, which is needed for a robust and stable accomplished of assembly tasks in the exploitation phase. The benefit of this framework is in improved learning efficiency since the operator can concentrate only on the fine adjustment of the pre-learned trajectory. The robot optimizes its configuration from the data obtained in the prelearning phase, which substantially facilitates the learning of kinematic redundant mechanisms and learning of bi-manual robot mechanisms. The proposed scheme was validated in a task where a bi-manual robot composed of two Kuka LWR-4 robot arms performs an assembly task.","PeriodicalId":433345,"journal":{"name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","volume":"41 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":"133446969","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

Comparison of Three Hand Pose Reconstruction Algorithms Using Inertial and Magnetic Measurement Units 基于惯性和磁测量单元的三种手部姿态重建算法的比较

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8624929

P. J. Kieliba, P. Veltink, T. L. Baldi, D. Prattichizzo, G. Santaera, A. Bicchi, M. Bianchi, B. Beijnum

{"title":"Comparison of Three Hand Pose Reconstruction Algorithms Using Inertial and Magnetic Measurement Units","authors":"P. J. Kieliba, P. Veltink, T. L. Baldi, D. Prattichizzo, G. Santaera, A. Bicchi, M. Bianchi, B. Beijnum","doi":"10.1109/HUMANOIDS.2018.8624929","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2018.8624929","url":null,"abstract":"The correct estimation of human hand kinematics has received a lot of attention in many research fields of neuroscience and robotics. Not surprisingly, many works have addressed hand pose reconstruction (HPR) problem and several technological solutions have been proposed. Among them, Inertial and Magnetic Measurement Unit (IMMU) based systems offer some elegant characteristics (including cost-effectiveness) that make these especially suited for wearable and ambulatory HPR. However, what still lacks is an exhaustive characterization of IMMU-based orientation tracking algorithms performance for hand tracking purposes. In this work, we have developed an experimental protocol to compare the performance of three of the most widely adopted HPR computational techniques, i.e. extended Kalman filter (EKF), Gauss-Newton with Complementary filter (CF) and Madgwick filter (MF), on the same dataset acquired through an IMMU-based sensing glove. The quality of the algorithms has been benchmarked against the ground truth measurement provided by an optical motion tracking system. Results suggest that performance of the three algorithms is similar, though the MF algorithm appears to be slightly more accurate in reconstructing the individual joint angles during static trials and to be the fastest one to run.","PeriodicalId":433345,"journal":{"name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","volume":"14 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":"130385532","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

Design. Fabrication, and Evaluation of Tendon-Driven Multi-Fingered Foam Hands 设计。肌腱驱动多指泡沫手的制造与评价

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8624997

J. King, Dominik Bauer, C. Schlagenhauf, Kai-Hung Chang, Daniele Moro, N. Pollard, Stelian Coros

引用次数: 25

Self-Adaptive Monolithic Anthropomorphic Finger with Teeth-Guided Compliant Cross-Four-Bar Joints for Underactuated Hands 用于欠驱动手的自适应单片拟人手指与牙导柔性交叉四杆关节

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8624971

Guochao Bai, Nicolás Rojas

引用次数: 14

Bimanual Skill Learning with Pose and Joint Space Constraints 姿势和关节空间约束下的双手技能学习

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8624993

João Silvério, S. Calinon, L. Rozo, D. Caldwell

{"title":"Bimanual Skill Learning with Pose and Joint Space Constraints","authors":"João Silvério, S. Calinon, L. Rozo, D. Caldwell","doi":"10.1109/HUMANOIDS.2018.8624993","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2018.8624993","url":null,"abstract":"As humanoid robots become commonplace, learning and control algorithms must take into account the new challenges imposed by this morphology, in order to fully exploit their potential. One of the most prominent characteristics of such robots is their bimanual structure. Most research on learning bimanual skills has focused on the coordination between end-effectors, exploiting operational space formulations. However, motion patterns in bimanual scenarios are not exclusive to operational space, also occurring at joint level. Moreover, in addition to position, the end-effector orientation is also essential for bimanual operation. Here, we propose a framework for simultaneously learning constraints in configuration and operational spaces, while considering end-effector orientations, commonly overlooked in previous works. In particular, we extend the Task-Parameterized Gaussian Mixture Model (TP-GMM) with novel Jacobian-based operators that address the foregoing problem. The proposed framework is evaluated in a bimanual task with the COMAN humanoid that requires the consideration of operational and configuration space motions.","PeriodicalId":433345,"journal":{"name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","volume":"204 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":"133708626","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