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

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Learning Sequential Decision Tasks for Robot Manipulation with Abstract Markov Decision Processes and Demonstration-Guided Exploration 基于抽象马尔可夫决策过程和演示引导探索的机器人操作顺序决策任务学习
2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8624949
Cassandra Kent, Siddhartha Banerjee, S. Chernova
{"title":"Learning Sequential Decision Tasks for Robot Manipulation with Abstract Markov Decision Processes and Demonstration-Guided Exploration","authors":"Cassandra Kent, Siddhartha Banerjee, S. Chernova","doi":"10.1109/HUMANOIDS.2018.8624949","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2018.8624949","url":null,"abstract":"Solving high-level sequential decision tasks situated on physical robots is a challenging problem. Reinforcement learning, the standard paradigm for solving sequential decision problems, allows robots to learn directly from experience, but is ill-equipped to deal with issues of scalability and uncertainty introduced by real-world tasks. We reformulate the problem representation to better apply to robot manipulation using the relations of Object-Oriented MDPs (OO-MDPs) and the hierarchical structure provided by Abstract MDPs (AMDPs). We present a relation-based AMDP formulation for solving tabletop organizational packing tasks, as well as a demonstration-guided exploration algorithm for learning AMDP transition functions inspired by state- and action-centric learning from demonstration approaches. We evaluate our representation and learning methods in a simulated environment, showing that our hierarchical representation is suitable for solving complex tasks, and that our state- and action-centric exploration biasing methods are both effective and complementary for efficiently learning AMDP transition functions. We show that the learned policy can be transferred to different tabletop organizational packing tasks, and validate that the policy can be realized on a physical system.","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":"122112171","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
Partial Yaw Moment Compensation Using an Optimization-Based Multi-Objective Motion Solver 基于优化的多目标运动求解器局部偏航力矩补偿
2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8625076
Rafael Cisneros, M. Benallegue, M. Morisawa, E. Yoshida, K. Yokoi, F. Kanehiro
{"title":"Partial Yaw Moment Compensation Using an Optimization-Based Multi-Objective Motion Solver","authors":"Rafael Cisneros, M. Benallegue, M. Morisawa, E. Yoshida, K. Yokoi, F. Kanehiro","doi":"10.1109/HUMANOIDS.2018.8625076","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2018.8625076","url":null,"abstract":"Any arbitrary motion generated by a humanoid robot produces a yaw moment which may exceed the one created by the friction between its feet and the ground, inducing a yaw rotation that deviates the robot from its desired path. This paper describes an on-line compensation scheme for the yaw moment of a humanoid robot about the Zero Moment Point (ZMP), formulated as a task of a Quadratic Program (QP) solving for multiple weighted objectives and constraints. This allows to use the motion of every single link of the robot to contribute to the compensation, according to the relative weight of other primary tasks that it should perform. Within the proposed approach the yaw moment is partially compensated; that is, mostly when exceeding a predefined threshold, allowing to slow down the residual motion of the links triggered by the compensation.","PeriodicalId":433345,"journal":{"name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","volume":"21 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":"123678054","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
Human-Like ZMP Generator and Walking Stabilizer Based on Divergent Component of Motion 基于运动发散分量的仿人ZMP发生器及行走稳定器
2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8624926
Haitao Wang, Zhongyuan Tian, Wenbin Hu, Mingguo Zhao
{"title":"Human-Like ZMP Generator and Walking Stabilizer Based on Divergent Component of Motion","authors":"Haitao Wang, Zhongyuan Tian, Wenbin Hu, Mingguo Zhao","doi":"10.1109/HUMANOIDS.2018.8624926","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2018.8624926","url":null,"abstract":"To realize natural and fast bipedal walking, we mimic the ZMP trajectory from human walking data based on the concept of Divergent Component of Motion (DCM). This paper presents an omnidirectional gait generator that is lightweight and universal. In addition, we integrate DCM tracking and foot placement adjustment into our control framework to ensure a stable walking motion and push recovery. The method proposed was validated in RoboCup2018 AdultSize soccer competition, where our robot WALKER+ walked on grass field and kept balance after the push from other robots.","PeriodicalId":433345,"journal":{"name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","volume":"26 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":"115377495","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
Gripper with Thumb Adduction/Abduction Joint for Enhanced In-Hand Orientation Manipulation 带拇指内收/外展关节的夹持器，用于增强手部定向操作
2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8625063
Seungyeon Kim, Jaeheung Park
{"title":"Gripper with Thumb Adduction/Abduction Joint for Enhanced In-Hand Orientation Manipulation","authors":"Seungyeon Kim, Jaeheung Park","doi":"10.1109/HUMANOIDS.2018.8625063","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2018.8625063","url":null,"abstract":"A new gripper with a Thumb Adduction/Abduction joint (TAA joint) is presented in this study. The purpose of the proposed gripper is to enable the orientation control of an object along all axes using in-hand manipulation and the last wrist joint. Using TAA joint motion, it was possible to achieve not only stable grasping but also in-hand orientation control. The gripper can produce 13 out of 16 human grasp motions according to hand taxonomy, including four of the most used hand postures [1] [2]. The grasping performance was evaluated using various objects. Some of them were tools for specific tasks such as electric drill, screwdriver, and hammer. The others were objects in daily life such as ball, CD, pen, cup, wallet, and card. To evaluate the capability of in-hand orientation control, the maximum ranges of rotations were also estimated using circular cross-sectional objects. The gripper can consecutively rotate the object along the roll and yaw directions, and this was demonstrated using a spherical object.","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":"129758738","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
Semi-Passive Walk and Active Walk by One Bipedal Robot 双足机器人的半被动行走和主动行走
2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8624983
Shintaro Noda, Fumihito Sugai, Kunio Kojima, Kim-Ngoc-Khanh Nguyen, Youhei Kakiuchi, K. Okada, M. Inaba
{"title":"Semi-Passive Walk and Active Walk by One Bipedal Robot","authors":"Shintaro Noda, Fumihito Sugai, Kunio Kojima, Kim-Ngoc-Khanh Nguyen, Youhei Kakiuchi, K. Okada, M. Inaba","doi":"10.1109/HUMANOIDS.2018.8624983","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2018.8624983","url":null,"abstract":"We developed a robot which can do both of active walking (all joints are actively controlled by actuators) and semi-passive walking (hip joints are passive and spring attached). In this paper, we summarize three technologies to achieve the development. The first one is small and high-strength clutch mechanism to sustain massive weight of lifesize robot. The second one is semi-passive walk controller to consider passive joint dynamics. The last one is model parameter identification considering not only body parameters but also environment ones such as ground slope to achieve unstable motion similar to simulated result in real world.","PeriodicalId":433345,"journal":{"name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","volume":"18 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":"121060087","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 Probabilistic Approach to Unsupervised Induction of Combinatory Categorial Grammar in Situated Human-Robot Interaction 情境人机交互中组合范畴语法无监督归纳的概率方法
2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8625009
A. Aly, T. Taniguchi, D. Mochihashi
{"title":"A Probabilistic Approach to Unsupervised Induction of Combinatory Categorial Grammar in Situated Human-Robot Interaction","authors":"A. Aly, T. Taniguchi, D. Mochihashi","doi":"10.1109/HUMANOIDS.2018.8625009","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2018.8625009","url":null,"abstract":"Robots are progressively moving into spaces that have been primarily shaped by human agency; they collaborate with human users in different tasks that require them to understand human language so as to behave appropriately in space. To this end, a stubborn challenge that we address in this paper is inferring the syntactic structure of language, which embraces grounding parts of speech (e.g., nouns, verbs, and prepositions)through visual perception, and induction of Combinatory Categorial Grammar (CCG)in situated human-robot interaction. This could pave the way towards making a robot able to understand the syntactic relationships between words (i.e., understand phrases), and consequently the meaning of human instructions during interaction, which is a future scope of this current study.","PeriodicalId":433345,"journal":{"name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","volume":"71 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":"122711605","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
Real-Time On-Board Recognition of Locomotion Modes for an Active Pelvis Orthosis 主动骨盆矫形器运动模式的实时车载识别
2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8625044
Cheng Gong, Dongfang Xu, Zhihao Zhou, N. Vitiello, Qining Wang
{"title":"Real-Time On-Board Recognition of Locomotion Modes for an Active Pelvis Orthosis","authors":"Cheng Gong, Dongfang Xu, Zhihao Zhou, N. Vitiello, Qining Wang","doi":"10.1109/HUMANOIDS.2018.8625044","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2018.8625044","url":null,"abstract":"To adapt to different locomotion modes or terrains, real-time human intents recognition is an essential skill to the control of lower-limb exoskeletons timely and precisely. In this paper, we propose a real-time on-board training and recognition method to identify locomotion-related activities for an active pelvis orthosis using two IMUs integrated into it. The designed on-board intent recognition system with a BPNN based algorithm realizes distinguish among six locomotion modes including standing, level ground walking, ramp ascending, ramp descending, stair ascending and stair descending, and deliver the recognition results for future control strategies. Experiments are conducted on one healthy subject including on-board training and online recognition parts. The overall recognition accuracy is 97.79% with the cost time of one recognition decision is about 0.9ms, which is sufficient short compared with the sample interval of 10ms. The experimental results validate the great performance of the proposed real-time on-board training and recognition method for future control of the lower-limb exoskeletons assisting in various locomotion modes or terrains.","PeriodicalId":433345,"journal":{"name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","volume":"8 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":"126379090","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
Synergy-Based, Data-Driven Generation of Object-Specific Grasps for Anthropomorphic Hands 基于协同，数据驱动的生成对象特定的抓取拟人化的手
2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8624990
J. Starke, Christian Eichmann, Simon Ottenhaus, T. Asfour
{"title":"Synergy-Based, Data-Driven Generation of Object-Specific Grasps for Anthropomorphic Hands","authors":"J. Starke, Christian Eichmann, Simon Ottenhaus, T. Asfour","doi":"10.1109/HUMANOIDS.2018.8624990","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2018.8624990","url":null,"abstract":"Building anthropomorphic robotic and prosthetic hands is a challenging task due to size and performance requirements. As of today it is impossible for such artificial hands to mimic the capabilities of a human hand. A popular approach to reduce the complexity in hand design is the realization of hand synergies through underactuated mechanism, leading also to a reduction of control complexity. In this paper we aim to find grasp synergies of human grasps by employing a deep autoencoder. We perform a grasp study with 15 subjects including 2250 grasps on 35 diverse objects. The emerging latent space contains a comprehensive representation of grasp type and the size of the grasped object, while preserving a large amount of grasp information. In addition we report on novel findings on couplings and grasp specific features of joint kinematics, which can be directly applied to the control of anthropomorphic hands.","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":"126645441","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
Design of Tiny High-Power Motor Driver without Liquid Cooling for Humanoid JAXON 机器人JAXON无液冷小型大功率电机驱动器设计
2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8625070
Fumihito Sugai, Kunio Kojima, Youhei Kakiuchi, K. Okada, M. Inaba
{"title":"Design of Tiny High-Power Motor Driver without Liquid Cooling for Humanoid JAXON","authors":"Fumihito Sugai, Kunio Kojima, Youhei Kakiuchi, K. Okada, M. Inaba","doi":"10.1109/HUMANOIDS.2018.8625070","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2018.8625070","url":null,"abstract":"In this paper, we present the design of a tiny high-power motor driver without a liquid cooling system. A high-power humanoid robot JAXON developed in our laboratory has a liquid cooling system for cooling motors and motor drivers. Thanks to the liquid cooling system, JAXON realizes high-power motion. However, the liquid cooling system makes the robot heavy. Hence, we designed a motor driver which is air cooling and smaller than the existing one while keeping its performance. There are two key points to realize tiny high-power motor driver. One is absorbing temperature rise due to instantaneous high current by using a heavy copper circuit board as a thermal buffer. The other is keeping steady board temperature low by reducing power consumption of motor driver. By applying developed motor driver to JAXON1, JAXON1 was able to reduce the weight of 7.1 [kg].","PeriodicalId":433345,"journal":{"name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","volume":"1539 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":"128060104","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
Towards Combining Motion Optimization and Data Driven Dynamical Models for Human Motion Prediction 运动优化与数据驱动动力学模型相结合的人体运动预测研究
2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8624991
Philipp Kratzer, Marc Toussaint, Jim Mainprice
{"title":"Towards Combining Motion Optimization and Data Driven Dynamical Models for Human Motion Prediction","authors":"Philipp Kratzer, Marc Toussaint, Jim Mainprice","doi":"10.1109/HUMANOIDS.2018.8624991","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2018.8624991","url":null,"abstract":"Predicting human motion in unstructured and dynamic environments is challenging. Human behavior arises from complex sensory-motor couplings processes that can change drastically depending on environments or tasks. In order to alleviate this issue, we propose to encode the lower level aspects of human motion separately from the higher level geometrical aspects using data driven dynamical models. In order to perform longer term behavior predictions that account for variation in tasks and environments, we propose to make use of gradient based constraint motion optimization. The present method is the first to our knowledge to combine motion optimization and data driven dynamical models for human motion prediction. We present results on synthetic and motion capture data of upper body reaching movements (see Figure 1) that demonstrate the efficacy of the approach with respect to simple baselines often mentioned in prior work.","PeriodicalId":433345,"journal":{"name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","volume":"30 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":"134070167","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
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