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This paper presents a reaching motion planning and execution framework tailored for exploration missions by human-operated humanoid robots in hazardous environments such as nuclear plants. This framework offers low-level but practical autonomy that allows the robot to plan and execute simple tasks, such as reaching a target object, within a reasonable amount of time. The human operator benefits from...
This paper reports on the modelling and trajectory generation of an intrinsically compliant humanoid robot. To achieve adequate gait tracking performance in a compliant robot is not trivial and cannot be addressed with the traditional control approaches used for stiff robots. To permit the development of effective gait generators which take into account the additional dynamic effects due to intrinsic...
This paper presents Easy Tracker, a mobile application developed for the Android O/S that enable the storage, analysis and map visualization of routes of mobile users. Furthermore, it enable users to manually annotate part of their routes with labels describing their activity and behavior (e.g. "home having breakfast", "travelling by car to work", etc.). Of equal importance, the...
While robust trajectory following is a well-studied problem on mobile robots, the question of how to track accurately a trajectory on a humanoid robot remains open. This paper suggests a closed-loop trajectory tracking strategy aimed at humanoid robots. Compared to approaches from mobile robotics, this control scheme takes into account footsteps alteration, equilibrium constraints and singularities...
Pushing heavy and large objects in a plane requires generating correct operational forces that compensate for unpredictable ground-object friction forces. This is a challenge because the reaction forces from the heavy object can easily cause a humanoid robot to slip at its feet or lose balance and fall down. Although previous research has addressed humanoid robot balancing problems to prevent falling...
In this paper we introduce a new bounding box method for footstep planning for humanoid robots. Similar to the classic bounding box method (which uses a single rectangular box to encompass the robot) it is computationally efficient, easy to implement and can be combined with any rigid body motion planning library. However, unlike the classic bounding box method, our method takes into account the stepping...
We present the realization of quick turning motion of a humanoid robot on its toes via slipping between its feet and the floor. A rotation model is described on the basis of our hypothesis that turning via slip occurs as a result of minimizing the power caused by floor friction. Using the model, the trajectory of the center of the foot can be generated to realize the desired rotational angle. Toe...
This article presents the adaptation of an existing parallel mechanism to design vertebra joints that can be used to compose the vertebral column of a biped robot. The mechanism was imagined for the design of a flight simulator [1]. It is composed of a bottom platform and a top platform connected by two articulated arms and a vertical central rod. Both arms are used to pitch and roll the top platform...
We present an optimization-based control strategy for generating whole-body trajectories for humanoid robots in order to minimize damage due to falling. In this work, the falling problem is formulated using optimal control where we seek to minimize the impulse on impact with the ground, subject to the full-body dynamics and constraints of the robot in joint space. We extend previous work in this domain...
We propose a novel method for acquiring robot skill synthesis that exploits human capability to learn and to control complex tools and devices. The basic idea is to consider the target robotic system as a complex tool akin a computer mouse or a car that can be intuitively controlled by a human. Once the human learns how to control the robotic system effortlessly, the target behaviour can be obtained...
Central pattern generator (CPG) consisting of neural oscillators, generates rhythmic signals using simple input signal. It can modify motor patterns to handle environmental perturbations by sensory feedback. In this paper, an evolutionary CPG for stable bipedal walking by the increased double support time is proposed. The proposed CPG generates swing motion of arms as well as ankle and the center...
This work presents the use of a brain-computer interface (BCI) system in order to steer a humanoid robot. We aim at designing a ready-to-use system allowing the user to manipulate the robot in an unknown environment. This design induces some constraints on the BCI system design that we present in this paper. Given these constraints, two steering paradigms based upon the steady-state visually evoked...
This paper proposes 3-D command state (3-D CS)-based modifiable walking pattern generator (MWPG) on the uneven terrain with the different inclinations and heights for humanoid robots. In the previous researches on walking pattern generation on the uneven terrain, the humanoid robot was unable to modify a walking pattern on the uneven terrain without any additional footstep for adjusting the center...
This research aims to create a framework of transporting an object by multiple humanoid robots. e.g. In this work, a leader-follower type cooperation method is used. In the leader-follower method, the leader robot is directly operated by a human operator, and the follower robot is programmed to follow the leader robot based on the force sensor information measured on its hands. This force is due to...
This paper proposes a computational framework for humanoid robots to learn complex behaviors through combining robotic self-exploration and demonstrations of humans. A modified Rapidly-growing Random Tree (RRT)-Connect algorithm is used for exploration, a Linear Global Model (LGM) is used for recording demonstrations, a spatial-temporal extension of Isomap algorithm is used for dimension reduction...
In this study, we propose novel modular architecture to control a robot with many degrees of freedom, such as a humanoid robot. High-degree-of-freedom (DOF) robots tend to have highly nonlinear dynamics. In general, deriving a nonlinear controller for high-dimensional systems is intractable. In our approach, we adopt multiple Linear Quadratic Gaussian (LQG) controllers to cope with nonlinear dynamics...
The task of cleaning a vertical flat surface with the help of a standing humanoid robot is considered. A trajectory/force tracking controller is introduced that is implemented under a mixed position/torque control mode. The arm joints are controlled with a conventional PD controller working under position control, while the ankle joints are torque controlled. The desired force is realized via a force...
A general concept for the gaze control of a redundant humanoid robot head is presented. It is based on an adaptive Kalman filter that predicts the next state of the moving target, processing the position information provided by a head-mounted stereo camera. The trajectory tracking control at the task level combines a proportional feedback and a feedforward term. The gains of both control actions are...
This paper uses motion capture data to describe the interpolation of the upper body motion of humanoid robots. For the motion interpolation of humanoid robots, transition trajectory must be created. This trajectory should be based on consideration of the continuity between the first and second motions and the characteristics of humanoid robots, such as the limitations of the joint angle, velocity...
In everyday life environments, various disturbances like pushing or pulling forces may cause humanoids to fall. Thus, they should be able to quickly adapt to disturbances. Model predictive control is a general control scheme which can generate the online motions need to be realized to act efficiently against disturbances. In this paper the model predictive control is used to address the problem of...
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