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A humanoid robot can be viewed as a constrained dynamic system with constraints imposed by manipulation tasks, locomotion tasks, and the environment. This paper focuses on dealing with constraints in the upper-body of humanoid robots for manipulation tasks that involve coordinated motion of two arms. Inspired by research on human bimanual actions in the biomechanics area, we have developed the Extended-Cooperative-Task-Space...
Locomotion stability of a humanoid robot is closely related to the capacity to regulate its Center of Mass (CoM) motion. In this paper, the Feasible Center of Mass Dynamic Manipulability (FCDM) is introduced and analyzed as a measure of this capacity. The effects of posture, joint velocities and gravity on the torque-bounded dynamic manipulability ellipsoid are first analyzed on an n-DOF planar humanoid...
This paper presents an autonomous planning and control framework for humanoid robots to climb general ladder- and stair-like structures. The approach consists of two major components: 1) a multi-limbed locomotion planner that takes as input a ladder model and automatically generates a whole-body climbing trajectory that satisfies contact, collision, and torque limit constraints; 2) a compliance controller...
This video presents our preliminary work towards addressing the ladder climbing event in DARPA Robotics Challenge (DRC) using DRC-Hubo robot. A ladder-climbing motion planner is developed which generates a collision-free, stable quasi-static trajectory for execution. Compliance control is enabled on arm joints to compensate for the calibration error, modeling error and control error. We have demonstrated...
Estimating human poses is an important step towards developing robots that can understand human motion. Since a human is highly articulated, changing viewpoints of sensors on robots can improve the accuracy of human-pose estimation. We propose a two-phase approach that determines the best viewpoint of a depth sensor for human-pose estimation. The proposed approach measures the quality of potential...
This paper studies the use of Cooperative Dual-Task Space (CDTS) as an efficient approach for the whole-body motion balancing problem for humanoid robots. The CDTS variables have been used efficiently to describe and control coordinated motions of dual-arms. Similarly, the concept of CDTS variables can be extended to describe the constraints and the control of humanoid legs. When the leg motion is...
Estimating human poses is an important step towards developing robots that can understand human motions and improving their cognitive capabilities. This paper presents a geometric feature for estimating human poses from a 3D point cloud input. The proposed feature can be considered as an extension of the idea of visual features, such as color/edge, of color/grayscale images, and it contains the geometric...
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