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In this paper, a novel manipulability based three-level hierarchical approach is suggested for control of perturbed bipedal walking. An appropriate postural strategy is selected to restore stability if a perturbation occurs during steady-state human walking. Previous experimental studies on the human walking suggest that the selection of stabilizing strategies can be related to the kinematic manipulability...
This work presents a biologically inspired solution to problems that arise in multisensory attention, with a specific application to binaural humanoid robotics. The focus was on using only two microphones as an analogy to mammalian auditory system. The goal was to localize a salient sound source and to fuse this information with a visual-salience feature selection system. We describe a method to select...
In this work, a novel optimal human-inspired balancing control for the compliant humanoid, CoMAN, is introduced. The presented technique was motivated by the results of a human balance analysis. In particular, a human balancing experiment was carried out to investigate the torque-to-angular displacement profiles about the ankle joint. Experimental results obtained from this study, indicated that both...
The balance control of humanoid robots against external perturbations is a fundamental prerequisite for operating in unstructured environments where physical interaction may unexpectedly occur. These balancing actions can be very demanding in terms of power and torque requirements for ankle joints especially after strong and sudden impacts. In this work, an optimal control problem is formulated for...
This paper investigates the performance of impedance control utilizing an inner loop PI torque controller. Stiffness and damping shaping vary within a specified range of values. The impedance control problem is formulated taking into account a specified range of stiffness and damping parameters. The analysis and design is carried out in discrete time. Stability, passivity, impedance emulation as well...
In this paper, we present a study on dynamic simulation to assist designing a high performance compliant humanoid robot. An open source dynamic simulator is introduced which includes the rigid body and actuator dynamics of the full humanoid robot. A set of representative tasks for humanoid robot in rescue operations are chosen and simulated. The data from these tasks are used in sizing the motor and...
Keeping balance is the main concern for humanoids in standing and walking tasks. This paper endeavors to acquire optimal ankle stabilization methods for humanoids with passive and active compliance and explain ankle balancing strategy from the compliance regulation perspective. Unlike classical stiff humanoids, the compliant ones can control both impedance and position during task operation. Optimal...
This paper reports on development of an open source dynamic simulator for the Compliant huMANoid robot, COMAN. The key advantages of this simulator are: it generates efficient symbolic dynamical equations of the robot with high degrees of freedom, it includes a user-defined model of the actuator dynamics (the passive elasticity and the DC motor equations), user defined ground models and fall detection...
Impedance control, as method to improve the interaction ability of robotic systems, has gained great attention by the robotic community and a large number of different implementations have been reported in the literature. Most implementations are based on an outer impedance loop and a number of nested inner loops. In this paper, various active Impedance Control (IC) schemes are designed, analyzed...
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