2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)最新文献_第3页

Passivity-Based Compliant Walking on Torque-Controlled Hydraulic Biped Robot 基于被动的力矩控制液压双足机器人柔性行走

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8624964

Kenta Hirayama, Nozomu Hirosawa, S. Hyon

引用次数: 8

Anthropomorphic Soft Pneumatic Fingers Towards Full Dexterity of Human Hand 拟人化的柔软气动手指实现人手的完全灵巧

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8625023

Zihan Xu, Yu Bai, Runyu Ni, Ning Yang, Yi Sun, Peng Qi

{"title":"Anthropomorphic Soft Pneumatic Fingers Towards Full Dexterity of Human Hand","authors":"Zihan Xu, Yu Bai, Runyu Ni, Ning Yang, Yi Sun, Peng Qi","doi":"10.1109/HUMANOIDS.2018.8625023","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2018.8625023","url":null,"abstract":"Human fingers are highly dexterous due to the combination of multiple joints and degrees of freedom (DoFs). With the rise of soft material robots, many gripper prototypes have utilized soft robot technology. Nonetheless, it is still challenging to build a soft finger with a similar dexterity to human hand. Owing to the soft pneumatic actuator (SPA) fabrication flexibility, we have proposed a multiple DoFs soft pneumatic fingers design scheme that can mimic the motion patterns of human hand. Unlike the most SPA fingers where the motion patterns are fixed and limited, here our soft fingers can function like the human finger movements to a greater extent. The design is composed of three parts: (i) a SPA with two independent chambers as the main part of finger; (ii) a constraint layer made of unstretchable fabric which simulates tendon; (iii) a fiber-reinforced three-channel fluidic elastomer actuator (FEA). The abundance in DoFs expands the range of motions of the fingers and enables them to reach where human fingers can go. By controlling the internal pressure of the actuator, a variety of human finger motion patterns are achieved. Since each chamber's pressure can be individually controlled, the dexterous position control of the finger has been made possible. Fabrication process of the soft pneumatic fingers is presented, followed by the characterizations to provide a better understanding of their behaviors. In the last part of the article, a robotic hand composed of five fingers is fabricated for demonstration.","PeriodicalId":433345,"journal":{"name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","volume":"23 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":"128253580","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

Lifting and Carrying an Object of Unknown Mass Properties and Friction on the Head by a Humanoid Robot 类人机器人抬起和搬运未知质量特性和头部摩擦的物体

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8625001

Riku Shigematsu, Shintaro Komatsu, Youhei Kakiuchi, K. Okada, M. Inaba

引用次数: 6

A Proprioceptive, Force-Controlled, Non-Anthropomorphic Biped for Dynamic Locomotion 具有本体感觉、力控制、非拟人化的动态运动两足动物

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8624919

Jeffrey Yu, Joshua Hooks, Xiaoguang Zhang, M. Ahn, D. Hong

引用次数: 13

Conceptual Design of a Variable Stiffness Mechanism in a Humanoid Ankle Using Parallel Redundant Actuation 并联冗余驱动仿人踝关节变刚度机构的概念设计

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8625046

C. Stoeffler, Shivesh Kumar, Heiner Peters, O. Brüls, A. Müller, F. Kirchner

{"title":"Conceptual Design of a Variable Stiffness Mechanism in a Humanoid Ankle Using Parallel Redundant Actuation","authors":"C. Stoeffler, Shivesh Kumar, Heiner Peters, O. Brüls, A. Müller, F. Kirchner","doi":"10.1109/HUMANOIDS.2018.8625046","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2018.8625046","url":null,"abstract":"Future robots will rely more than today on high precision, better energy efficiency and safe handling (e.g. human-machine interaction). An inevitable step in the development of new robots is therefore the improvement of existing mechanisms, since better sensors and algorithms do not satisfy the demands alone. During the last three decades, Parallel Redundant Mechanisms (PRM) came more into the focus of research, as they are advantageous in terms of singularity avoidance, fast movements and energy efficiency. Subsequently, yet another technology - the Variable Impedance Actuator (VIA) - emerged which proposes to change its inherent stiffness allowing an adaptation to its environment and to handle for example dynamic movements or shock absorptions. This work aims to create a new mechanism where a stiffness and position control for 2 degrees of freedom (DOF) is achieved by 3 actuators with flexible elements. It is thus a combination of the PRM and VIA, while taking advantage of both technologies but asking for a more sophisticated mathematical description. Practical implementation is intended for a humanoid ankle mechanism. Kinetostatic and stiffness models are derived and incorporated into the simulation of the mechanism. The simulations show that improvements in terms of singularity removal and dexterity are achieved. Furthermore, the adaptation of human like gait performances is presented.","PeriodicalId":433345,"journal":{"name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","volume":"28 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":"128947844","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

Versatile In-Hand Manipulation of Objects with Different Sizes and Shapes Using Neural Networks 使用神经网络对不同大小和形状的物体进行多用途的手操作

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8624961

Satoshi Funabashi, A. Schmitz, Takashi Sato, S. Somlor, S. Sugano

引用次数: 7

Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics 多相刚性接触动力学的微分动态规划

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8624925

Rohan Budhiraja, Justin Carpentier, Carlos Mastalli, N. Mansard

引用次数: 66

Humanoid Robot Grasping with a Soft Gripper Through a Learned Inverse Model of a Central Pattern Generator and Tactile Servoing 基于中心模式发生器与触觉伺服的学习逆模型的软爪仿人机器人抓取

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8625035

Yuxiang Pan, F. Hamker, John Nassour

{"title":"Humanoid Robot Grasping with a Soft Gripper Through a Learned Inverse Model of a Central Pattern Generator and Tactile Servoing","authors":"Yuxiang Pan, F. Hamker, John Nassour","doi":"10.1109/HUMANOIDS.2018.8625035","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2018.8625035","url":null,"abstract":"Grasping and manipulation are essential skills that humanoid robots need in order to operate in the human environment. Model-based methods require a precise calibration and suffer from high order non-linearity. While, neural-based representations does not require a dedicated calibration process to solve these tasks. However, some suffer from high generalization error that reduces the accuracy or require large-scale data collection. The role of sensory feedback is therefore important to adapt the action. We present a control framework to learn grasping with a soft gripper attached to a humanoid robot arm. The inverse kinematic model of the arm is acquired through motor babbling of a central pattern generator and encoded by a feed-forward neural network. To overcome the generalization error we provide the gripper with a tactile sensors array at each finger. The tactile servoing is used to correct the action before grasping. The proposed model has been tested in simulation, and on the real robot where a soft sensory gripper was used to interact with a human subject (Tactile Servoing). Successful grasping was achieved thanks to the integration of a learned inverse model with the sensory feedback.","PeriodicalId":433345,"journal":{"name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","volume":"295 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":"123089920","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

Understand Human Walking Through a 2D Inverted Pendulum Model 通过一个2D倒立摆模型理解人类行走

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8625057

Linqi Ye, Xuechao Chen

{"title":"Understand Human Walking Through a 2D Inverted Pendulum Model","authors":"Linqi Ye, Xuechao Chen","doi":"10.1109/HUMANOIDS.2018.8625057","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2018.8625057","url":null,"abstract":"This paper gives some macroscopic understandings on human walking about the limitations on walking speed and step length, the reachable region, capture region, and disturbance recovery through a 2D inverted pendulum model. Our concern is the most basic problems in human walking, such as what are the limitations on walking speed and step length, how people change speed during step-to-step transition, and how people prevent a fall. The concept of walking orbit is proposed as a tool to study these problems. It describes the walking motion in the state space under walking constraints, giving us an intuitive way to study human walking during a step and switch between steps. The model has a point mass on the hip and two massless legs. The two dominant control inputs, hip and ankle actuation are idealized into a free determined foot placement and an impulsive push off. Based on this model, some quantitative and qualitative analysis are given, leading to some macroscopic understandings on human walking. Although this paper does not talk about any details on how to realize the control for a real biped robot, it may serve as a helpful guide for biped robot design and control in the future.","PeriodicalId":433345,"journal":{"name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","volume":"81 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":"121188070","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

Development of Movable Binocular High-Resolution Eye-Camera Unit for Humanoid and the Evaluation of Looking Around Fixation Control and Object Recognition 可移动双目高分辨率仿人眼相机单元的研制及其环顾、注视控制和目标识别的评价

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8625072

Tasuku Makabe, Kento Kawaharazuka, Kei Tsuzuki, Kentaro Wada, S. Makino, Masaya Kawamura, Ayaka Fujii, Moritaka Onitsuka, Yuki Asano, K. Okada, Koji Kawasaki, M. Inaba

{"title":"Development of Movable Binocular High-Resolution Eye-Camera Unit for Humanoid and the Evaluation of Looking Around Fixation Control and Object Recognition","authors":"Tasuku Makabe, Kento Kawaharazuka, Kei Tsuzuki, Kentaro Wada, S. Makino, Masaya Kawamura, Ayaka Fujii, Moritaka Onitsuka, Yuki Asano, K. Okada, Koji Kawasaki, M. Inaba","doi":"10.1109/HUMANOIDS.2018.8625072","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2018.8625072","url":null,"abstract":"Nowadays, studies have been conducted on humanoid robots with human mimetic structures. However, in the field of recognition, there is still much difference between humans and ordinary humanoid robots. For example, humans have movable eyes and use the degrees of freedom (DOF) of eyes in several ways: extension of the field of view, immediate changing of sight direction, focusing on objects to observe thoroughly. This DOF enables humans to adjust input images by aiming the direction of sight to desired objects, even when the body movement is limited. On the other hand, ordinary humanoid robots tend to have the cameras fixed to the head. Therefore, the humanoid has to move the head as a whole in order to change the sight direction of the camera. In this study, we developed both a movable binocular high-resolution eye-camera unit, which is small enough to be installed in the humanoid head, and a system to change input images according to the environment. The developed unit contains cameras, actuators, and motor control boards, being a stand-alone unit that enables the use of the movable eye. A small high-resolution auto-focus camera is used for this eye-camera unit. The developed system is used to adjust the images to the environment, controlling the recognition area by changing the direction of sight, size of input images and resolution.","PeriodicalId":433345,"journal":{"name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","volume":"12 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":"116582154","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