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

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ARMAR-6: A Collaborative Humanoid Robot for Industrial Environments ARMAR-6:工业环境下的协作类人机器人
2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8624966
T. Asfour, Lukas Kaul, Mirko Wächter, Simon Ottenhaus, Pascal Weiner, Samuel Rader, Raphael Grimm, You Zhou, Markus Grotz, Fabian Paus, Dmitriy Shingarey, Hans Haubert
{"title":"ARMAR-6: A Collaborative Humanoid Robot for Industrial Environments","authors":"T. Asfour, Lukas Kaul, Mirko Wächter, Simon Ottenhaus, Pascal Weiner, Samuel Rader, Raphael Grimm, You Zhou, Markus Grotz, Fabian Paus, Dmitriy Shingarey, Hans Haubert","doi":"10.1109/HUMANOIDS.2018.8624966","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2018.8624966","url":null,"abstract":"We present the collaborative humanoid robot ARMAR-6, which has been developed to perform a wide variety of complex maintenance tasks in industrial environments, collaborating with human workers. We present the hardware, software, and functional architecture of the robot as well as its current abilities. Those include the recognition of the need of help of a human worker, the execution of maintenance plans, compliant bimanual manipulation, vision-based grasping, fluent object handover, human activity recognition, natural dialog, navigation and more. We demonstrate the high level of technology readiness for real world applications in a complex demonstration scenario, shown more than 50 times at the CEBIT 2018 exhibition.","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":"129246033","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: 44
Linear Contact Modeling and Stochastic Parameter Optimization for LQR-Based Whole-Body Push Recovery 基于lqr的全身推力恢复线性接触建模及随机参数优化
2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8624921
Simon Bäuerle, Lukas Kaul, T. Asfour
{"title":"Linear Contact Modeling and Stochastic Parameter Optimization for LQR-Based Whole-Body Push Recovery","authors":"Simon Bäuerle, Lukas Kaul, T. Asfour","doi":"10.1109/HUMANOIDS.2018.8624921","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2018.8624921","url":null,"abstract":"In this paper we extend the line of research that aims at applying linear optimal control approaches with quadratic cost (LQR) to the inherently non-linear control problem of whole-body balancing for push recovery of humanoid robots. The non-linearity of the system is addressed in the controller design by optimization in the weight-space of the cost function in order to maximize balancing performance. We use stochastic sampling-based, gradient-free optimization over the large design parameter space of the whole-body controller to efficiently cope with the unknown relation between the cost function and the balancing performance. We further investigate three different linear ground contact models and evaluate their influence on the overall controller performance. We demonstrate that parameter optimization and novel ground contact models can be used to design a linear balancing controller that produces human-like whole-body motions in physics simulation-based push recovery experiments, simultaneously considering joint angles, center of mass and angular momentum.","PeriodicalId":433345,"journal":{"name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","volume":"19 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":"115909643","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
Projected Force-Admittance Control for Compliant Bimanual Tasks 顺应性手工任务的投射力导纳控制
2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8624916
Jianfeng Gao, You Zhou, T. Asfour
{"title":"Projected Force-Admittance Control for Compliant Bimanual Tasks","authors":"Jianfeng Gao, You Zhou, T. Asfour","doi":"10.1109/HUMANOIDS.2018.8624916","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2018.8624916","url":null,"abstract":"Bimanual manipulation is fundamental for humanoid robots. It has gained a lot of attention in robotics research as a key ability towards versatile behavior. To achieve such behaviors in real-world tasks, bimanual controllers must be stable and simple to implement. On the other hand, admittance and impedance control frameworks are well-known for their efficiency in robot's manipulation tasks which require compliant motions e. g. for physical human-robot interactions. Based on these frameworks, we propose a new control framework, the Projected Force-Admittance Control (PFAC), for compliant bimanual manipulation tasks. By analyzing the load distribution in bimanual tasks using grasp mapping technique, the controller uses the projected constraint force, which, together with the actuation force given by the PI controller, are fed into an admittance control framework, and finally provides the virtual target pose to an impedance controller that can be modeled as a mass-spring-damper system. With this control strategy, we ensure motion synchronization and target force regulation under external perturbations and/or while tracking a trajectory. We demonstrate the stability and usability of the controller in several experiments with the humanoids robot ARMAR-6. Combining it with movement primitives approaches such as Dynamic Movement Primitive (DMP), a variety of compliant bimanual tasks are implemented and evaluated.","PeriodicalId":433345,"journal":{"name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","volume":"22 4 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":"116636031","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
Anytime Whole-Body Planning/Replanning for Humanoid Robots 人形机器人的随时全身规划/重新规划
2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8624935
P. Ferrari, Marco Cognetti, G. Oriolo
{"title":"Anytime Whole-Body Planning/Replanning for Humanoid Robots","authors":"P. Ferrari, Marco Cognetti, G. Oriolo","doi":"10.1109/HUMANOIDS.2018.8624935","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2018.8624935","url":null,"abstract":"In this paper we propose an anytime plan-ning/replanning algorithm aimed at generating motions allowing a humanoid to fulfill an assigned task that implicitly requires stepping. The algorithm interleaves planning and execution intervals: a previously planned whole-body motion is executed while simultaneously planning a new solution for the subsequent execution interval. At each planning interval, a specifically designed randomized local planner builds a tree in configuration-time space by concatenating successions of CoM movement primitives. Such a planner works in two stages. A first lazy stage quickly expands the tree, testing only vertexes for collisions; then, a second validation stage searches the tree for feasible, collision-free whole-body motions realizing a solution to be executed during the next planning interval. We discuss how the proposed planner can avoid deadlock and we propose how it can be extended to a sensor-based planner. The proposed method has been implemented in V-REP for the NAO humanoid and successfully tested in various scenarios of increasing complexity.","PeriodicalId":433345,"journal":{"name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","volume":"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":"115249875","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
Autonomous Dual-Arm Manipulation of Familiar Objects 熟悉物体的自主双臂操纵
2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8624922
D. Pavlichenko, Diego Rodriguez, Max Schwarz, Christian Lenz, Arul Selvam Periyasamy, Sven Behnke
{"title":"Autonomous Dual-Arm Manipulation of Familiar Objects","authors":"D. Pavlichenko, Diego Rodriguez, Max Schwarz, Christian Lenz, Arul Selvam Periyasamy, Sven Behnke","doi":"10.1109/HUMANOIDS.2018.8624922","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2018.8624922","url":null,"abstract":"Autonomous dual-arm manipulation is an essential skill to deploy robots in unstructured scenarios. However, this is a challenging undertaking, particularly in terms of perception and planning. Unstructured scenarios are full of objects with different shapes and appearances that have to be grasped in a very specific manner so they can be functionally used. In this paper we present an integrated approach to perform dual-arm pick tasks autonomously. Our method consists of semantic segmentation, object pose estimation, deformable model registration, grasp planning and arm trajectory optimization. The entire pipeline can be executed onboard and is suitable for on-line grasping scenarios. For this, our approach makes use of accumulated knowledge expressed as convolutional neural network models and low-dimensional latent shape spaces. For manipulating objects, we propose a stochastic trajectory optimization that includes a kinematic chain closure constraint. Evaluation in simulation and on the real robot corroborates the feasibility and applicability of the proposed methods on a task of picking up unknown watering cans and drills using both arms.","PeriodicalId":433345,"journal":{"name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","volume":"84 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":"126221348","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: 12
Merging Physical and Social Interaction for Effective Human-Robot Collaboration 融合物理和社会互动,实现有效的人机协作
2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8625030
Phuong D. H. Nguyen, Fabrizio Bottarel, U. Pattacini, M. Hoffmann, L. Natale, G. Metta
{"title":"Merging Physical and Social Interaction for Effective Human-Robot Collaboration","authors":"Phuong D. H. Nguyen, Fabrizio Bottarel, U. Pattacini, M. Hoffmann, L. Natale, G. Metta","doi":"10.1109/HUMANOIDS.2018.8625030","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2018.8625030","url":null,"abstract":"For robots to share the environment and cooperate with humans without barriers, we need to guarantee safety to the operator and, simultaneously, to maximize the robot's usability. Safety is typically guaranteed by controlling the robot movements while, possibly, taking into account physical contacts with the operator, objects or tools. If possible, also the safety of the robot must be guaranteed. Not less importantly, as the complexity of the robots and their skills increase, usability becomes a concern. Social interaction technologies can save the day by enabling natural human-robot collaboration. In this paper we show a possible integration of physical and social Human-Robot Interaction methods (pHRI and sHRI respectively). Our reference task is object hand-over. We test both the case of the robot initiating the action and, vice versa, the robot receiving an object from the operator. Finally, we discuss possible extension with higher-level planning systems for added flexibility and reasoning skills.","PeriodicalId":433345,"journal":{"name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","volume":"17 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":"122011140","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
Falling Prediction and Recovery Control for a Humanoid Robot 仿人机器人的坠落预测与恢复控制
2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8625000
Tianqi Yang, Weimin Zhang, Zhangguo Yu, Libo Meng, Chenglong Fu, Qiang Huang
{"title":"Falling Prediction and Recovery Control for a Humanoid Robot","authors":"Tianqi Yang, Weimin Zhang, Zhangguo Yu, Libo Meng, Chenglong Fu, Qiang Huang","doi":"10.1109/HUMANOIDS.2018.8625000","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2018.8625000","url":null,"abstract":"It is very easy for biped robots to fall down. Some previous studies have been carried out to detect the fall state and protect the robot from damage. But it is not enough to detect a fall. It is very important for the biped robot to predict whether it will fall in the future based on the current state. In this paper, we consider a fall state predicted problem for bipedal robots. Based on the D ‘Alembert principle, this method can predict the fall state at the moment the biped robot deviates from the normal state in every conditions such as standing and walking. It can give the robot more time to recover from the unstable state or protect itself from damage. And its stable control strategy matching the proposed method is also proposed to protect the robot from falling. The result is verified via simulations.","PeriodicalId":433345,"journal":{"name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","volume":"64 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":"128012301","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
A Study on Low-Drift State Estimation for Humanoid Locomotion, Using LiDAR and Kinematic-Inertial Data Fusion 基于激光雷达和运动-惯性数据融合的人形运动低漂移状态估计研究
2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8624953
V. S. Raghavan, D. Kanoulas, Chengxu Zhou, D. Caldwell, N. Tsagarakis
{"title":"A Study on Low-Drift State Estimation for Humanoid Locomotion, Using LiDAR and Kinematic-Inertial Data Fusion","authors":"V. S. Raghavan, D. Kanoulas, Chengxu Zhou, D. Caldwell, N. Tsagarakis","doi":"10.1109/HUMANOIDS.2018.8624953","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2018.8624953","url":null,"abstract":"Several humanoid robots will require to navigate in unsafe and unstructured environments, such as those after a disaster, for human assistance and support. To achieve this, humanoids require to construct in real-time, accurate maps of the environment and localize in it by estimating their base/pelvis state without any drift, using computationally efficient mapping and state estimation algorithms. While a multitude of Simultaneous Localization and Mapping (SLAM) algorithms exist, their localization relies on the existence of repeatable landmarks, which might not always be available in unstructured environments. Several studies also use stop-and-map procedures to map the environment before traversal, but this is not ideal for scenarios where the robot needs to be continuously moving to keep for instance the task completion time short. In this paper, we present a novel combination of the state-of-the-art odometry and mapping based on LiDAR data and state estimation based on the kinematics-inertial data of the humanoid. We present experimental evaluation of the introduced state estimation on the full-size humanoid robot WALK-MAN while performing locomotion tasks. Through this combination, we prove that it is possible to obtain low-error, high frequency estimates of the state of the robot, while moving and mapping the environment on the go.","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":"127223100","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: 10
TWIMP: Two-Wheel Inverted Musculoskeletal Pendulum as a Learning Control Platform in the Real World with Environmental Physical Contact TWIMP:具有环境物理接触的两轮倒立肌肉骨骼摆作为学习控制平台
2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8624923
Kento Kawaharazuka, Tasuku Makabe, S. Makino, Kei Tsuzuki, Yuya Nagamatsu, Yuki Asano, Takuma Shirai, Fumihito Sugai, K. Okada, Koji Kawasaki, M. Inaba
{"title":"TWIMP: Two-Wheel Inverted Musculoskeletal Pendulum as a Learning Control Platform in the Real World with Environmental Physical Contact","authors":"Kento Kawaharazuka, Tasuku Makabe, S. Makino, Kei Tsuzuki, Yuya Nagamatsu, Yuki Asano, Takuma Shirai, Fumihito Sugai, K. Okada, Koji Kawasaki, M. Inaba","doi":"10.1109/HUMANOIDS.2018.8624923","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2018.8624923","url":null,"abstract":"By the recent spread of machine learning in the robotics field, a humanoid that can act, perceive, and learn in the real world through contact with the environment needs to be developed. In this study, as one of the choices, we propose a novel humanoid TWIMP, which combines a human mimetic musculoskeletal upper limb with a two-wheel inverted pendulum. By combining the benefit of a musculoskeletal humanoid, which can achieve soft contact with the external environment, and the benefit of a two-wheel inverted pendulum with a small footprint and high mobility, we can easily investigate learning control systems in environments with contact and sudden impact. We reveal our whole concept and system details of TWIMP, and execute several preliminary experiments to show its potential ability.","PeriodicalId":433345,"journal":{"name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","volume":"72 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":"126346861","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
A Risk Informed Task Planning Framework for Humanoid Robots in Hazardous Environments 危险环境下仿人机器人的风险知情任务规划框架
2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8625061
P. Long, Murphy Wonsick, T. Padır
{"title":"A Risk Informed Task Planning Framework for Humanoid Robots in Hazardous Environments","authors":"P. Long, Murphy Wonsick, T. Padır","doi":"10.1109/HUMANOIDS.2018.8625061","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2018.8625061","url":null,"abstract":"This paper presents a generalized method to evaluate risks associated with humanoid robots executing manipulation tasks. Risks are defined as the product of probability, the likelihood of an event occurring, and severity, the resulting magnitude of harm should it occur. Rather than try to reduce the probability of failure events to zero, the objective of this work is to allow an experienced operator/supervisor to define if some failures are worse than others. In doing so, this allows the operator to judge whether high risk motions are necessary for the task at hand. Utilizing NASA's humanoid robot Valkyrie, our framework is demonstrated in both simulation and on the physical robot, with a pick and place task. We show that our method is capable of predicting failures for given motions based on their calculated risk.","PeriodicalId":433345,"journal":{"name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","volume":"4 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":"121491214","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
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