2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)最新文献_第4页

Superhuman Performance in Tactile Material Classification and Differentiation with a Flexible Pressure-Sensitive Skin 柔性压敏皮肤触觉材料分类与区分的超人性能

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8624987

A. Tulbure, B. Bäuml

{"title":"Superhuman Performance in Tactile Material Classification and Differentiation with a Flexible Pressure-Sensitive Skin","authors":"A. Tulbure, B. Bäuml","doi":"10.1109/HUMANOIDS.2018.8624987","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2018.8624987","url":null,"abstract":"In this paper, we show that a robot equipped with a flexible and commercially available tactile skin can exceed human performance in the challenging tasks of material classification, i.e., uniquely identifying a given material by touch alone, and of material differentiation, i.e., deciding if the materials in a given pair of materials are the same or different. For processing the high dimensional spatio-temporal tactile signal, we use a new tactile deep learning network architecture TactNet-II which is based on TactNet [1] and is significantly extended with recently described architectural enhancements and training methods. TactN et- Iireaches an accuracy for the material classification task as high as 95.0 %. For the material differentiation a new Siamese network based architecture is presented which reaches an accuracy as high as 95.4 %. All the results have been achieved on a new challenging dataset of 36 everyday household materials. In a thorough human performance experiment with 15 subjects we show that the human performance is significantly lower than the robot's performance for both tactile tasks.","PeriodicalId":433345,"journal":{"name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","volume":"27 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":"124894816","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: 8

Learning Dual Arm Coordinated Reachability Tasks in a Humanoid Robot with Articulated Torso 具有铰接式躯干的仿人机器人学习双臂协调可达性任务

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8624979

Phaniteja, Parijat Dewangan, P. Guhan, Madhava Krishna, Abhishek Sarkar

引用次数: 2

A Method of Joint Angle Estimation Using Only Relative Changes in Muscle Lengths for Tendon-Driven Humanoids with Complex Musculoskeletal Structures 一种基于肌肉长度相对变化的复杂肌肉骨骼结构类人肌腱驱动关节角度估计方法

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8625002

Kento Kawaharazuka, S. Makino, Masaya Kawamura, Yuki Asano, K. Okada, M. Inaba

{"title":"A Method of Joint Angle Estimation Using Only Relative Changes in Muscle Lengths for Tendon-Driven Humanoids with Complex Musculoskeletal Structures","authors":"Kento Kawaharazuka, S. Makino, Masaya Kawamura, Yuki Asano, K. Okada, M. Inaba","doi":"10.1109/HUMANOIDS.2018.8625002","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2018.8625002","url":null,"abstract":"Tendon-driven musculoskeletal humanoids typically have complex structures similar to those of human beings, such as ball joints and the scapula, in which encoders cannot be installed. Therefore, joint angles cannot be directly obtained and need to be estimated using the changes in muscle lengths. In previous studies, methods using table-search and extended kalman filter have been developed. These methods express the joint-muscle mapping, which is the nonlinear relationship between joint angles and muscle lengths, by using a data table, polynomials, or a neural network. However, due to computational complexity, these methods cannot consider the effects of polyarticular muscles. In this study, considering the limitation of the computational cost, we reduce unnecessary degrees of freedom, divide joints and muscles into several groups, and formulate a joint angle estimation method that takes into account polyarticular muscles. Also, we extend the estimation method to propose a joint angle estimation method using only the relative changes in muscle lengths. By this extension, which does not use absolute muscle lengths, we do not need to execute a difficult calibration of muscle lengths for tendon-driven musculoskeletal humanoids. Finally, we conduct experiments in simulation and actual environments, and verify the effectiveness of this study.","PeriodicalId":433345,"journal":{"name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","volume":"54 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":"122565826","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

A Self-Adaptive Robot Control Framework for Improved Tracking and Interaction Performances in Low-Stiffness Teleoperation 一种改进低刚度遥操作跟踪与交互性能的自适应机器人控制框架

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8625062

Adriano Scibilia, Marco Laghi, E. Momi, L. Peternel, A. Ajoudani

{"title":"A Self-Adaptive Robot Control Framework for Improved Tracking and Interaction Performances in Low-Stiffness Teleoperation","authors":"Adriano Scibilia, Marco Laghi, E. Momi, L. Peternel, A. Ajoudani","doi":"10.1109/HUMANOIDS.2018.8625062","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2018.8625062","url":null,"abstract":"The improved adaptability of a robotic teleoperation system to unexpected disturbances in remote environments can be achieved by compliance control. Nevertheless, complying with all types of interaction forces while performing realistic manipulation tasks may deteriorate the teleoperation performance. For instance, the loading effect of the objects and tools that are held and manipulated by the robot can introduce undesired deviations from the reference trajectories in case of low-stiffness (or high payload) teleoperation. Although this can be addressed by updating the robot dynamics with the external loading effect, a sudden loss of the object may also generate undesired and potentially dangerous robot behaviours. To address this problem, we propose a novel and self-adaptive teleoperation framework. The method uses the feedback from robot's force sensors to recognize the interaction aspects that must be compensated by robot dynamics. Thanks to this online compensation, the slave robot reduces the tracking error with respect to the commanded motion by the human operator, while performing complex interactive tasks without the haptic feedback. The robot local controller also includes an energy tank based passivity paradigm to be able to manage unexpected collisions or a contact loss without resulting in an unsafe behaviour. We validate the proposed approach by experiments on a torque-controlled robotic arm performing manipulation tasks that require both object manipulation and environment Interaction.","PeriodicalId":433345,"journal":{"name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","volume":"149 2 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":"133388408","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

Position and Attitude Control of an Underactuated Flying Humanoid Robot 欠驱动人形飞行机器人的位置和姿态控制

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8624985

Gabriele Nava, Luca Fiorio, Silvio Traversaro, D. Pucci

引用次数: 13

An Evolutionary Approach for the Optimal Design of the iCub mk.3 Parallel Wrist iCub mk.3平行腕关节优化设计的进化方法

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8625040

Raed Bsili, G. Metta, A. Parmiggiani

{"title":"An Evolutionary Approach for the Optimal Design of the iCub mk.3 Parallel Wrist","authors":"Raed Bsili, G. Metta, A. Parmiggiani","doi":"10.1109/HUMANOIDS.2018.8625040","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2018.8625040","url":null,"abstract":"The payload-to-weight ratio is one of the most important metrics when designing robotic wrists. A solution to maximize it and to reduce the share of the motive power required to drive the robot's links is to employ parallel kinematic mechanisms (PKMs). Indeed PKMs allow relocating distal masses closer to the robot's base actually increasing the overall payload. On the other hand, PKMs are often characterized by limited ranges of motion (RoM) and nonuniform motion in their workspace. In this article, we considered a class of 2-DOF spherical six-bar mechanisms. We first developed the kinematic model of the system. We then tackled both the workspace limitation and uniformity issues with a numerical optimization approach. Differential evolution (a multi-objective, multivariate, gradient-free optimization method) was applied to the model of the system to explore a large space of parameter combinations. The optimization algorithm allowed obtaining an almost uniform and large RoM (exceeding 50°on both axes). We then proceeded with the detailed design of the joint as we envision integrating it on the future releases of the iCub robot forearm-hand assemblies.","PeriodicalId":433345,"journal":{"name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","volume":"42 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":"115567674","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

Enhancing Biped Locomotion on Unknown Terrain Using Tactile Feedback 利用触觉反馈增强两足在未知地形上的运动

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8625024

J. R. Guadarrama-Olvera, Florian Bergner, Emmanuel Dean, G. Cheng

{"title":"Enhancing Biped Locomotion on Unknown Terrain Using Tactile Feedback","authors":"J. R. Guadarrama-Olvera, Florian Bergner, Emmanuel Dean, G. Cheng","doi":"10.1109/HUMANOIDS.2018.8625024","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2018.8625024","url":null,"abstract":"Human bipedal balance during standing and walking depends on several receptors including the cutaneous receptors in the glabrous skin of the foot sole. It has been shown in human-involved studies that the different areas of the sole have distinct sensitivities and serve a different purpose in both walking and standing. In humanoid robotics, the feedback to keep balance is mainly achieved using force-torque sensors mounted at the robot's ankles. Although these sensors can accurately estimate the center of pressure of a foothold, they cannot provide information about the pressure shape of the footprint and therefore can miss ill terrain conditions during locomotion. In this paper, we present a biologically inspired sole skin sensor based on the robot skin developed at our lab. The robot skin can enhance and complement the ankle force-torque sensors used in balancing and walking controllers by providing additional information that a force-torque sensor cannot produce. This additional information can be used to reconstruct the supporting polygon and the pressure footprint online. We present a case study where a force-torque sensor fails to detect the terrain conditions while the skin succeeds and the information is used to re-plan the footstep position.","PeriodicalId":433345,"journal":{"name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","volume":"77 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":"114412120","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: 22

Whole-Body Posture Evaluation and Modification for Crane-Less Servo-Off Operation of Life-Sized Humanoid Robot 仿人机器人无起重机脱伺服操作的全身姿态评价与修正

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8624917

Masaki Murooka, Youhei Kakiuchi, K. Okada, M. Inaba

引用次数: 1

Online Rolling Motion Generation for Humanoid Falls Based on Active Energy Control Concepts 基于主动能量控制概念的人形跌倒在线滚动运动生成

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8624988

R. Subburaman, N. Tsagarakis, Jinoh Lee

{"title":"Online Rolling Motion Generation for Humanoid Falls Based on Active Energy Control Concepts","authors":"R. Subburaman, N. Tsagarakis, Jinoh Lee","doi":"10.1109/HUMANOIDS.2018.8624988","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2018.8624988","url":null,"abstract":"This paper introduces a novel online rolling over control technique based on energy concepts to alleviate impact forces during humanoid fall overs. To generate efficient rolling motion, critical parameters are defined by the insights drawn from a study on rolling, which are contact positions and attack angles. In addition, energy-injection velocity is proposed as an auxiliary control command to ensure sequential multiple contacts in rolling. The online rolling controller is synthesized to compute the optimal values of three rolling parameters: the first two parameters are to construct the humanoid's posture as a polyhedron by selecting suitable contacts points. This polyhedron distributes the energy gradually across multiple contacts; and the last one is to inject additional energy into the system during the fall, to overcome energy drought and tip over successive contacts, i.e., rolling. Accordingly, the proposed controller exploits energy injection, minimization, and distribution techniques and renders a rolling like motion. Numerical experiments with a segmented planar model and a full humanoid model verify that it significantly reduces impact forces.","PeriodicalId":433345,"journal":{"name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","volume":"15 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":"125000679","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

Prediction of Human Whole-Body Movements with AE- ProMPs AE- ProMPs预测人体全身运动

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/humanoids.2018.8624986

Oriane Denny, Maxime Chaveroche, F. Colas, F. Charpillet, S. Ivaldi

引用次数: 13