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Online humanoid walking control system and a moving goal tracking experiment

Online humanoid walking control system and a moving goal tra...

引用

2003 IEEE international conference on robotics and automation

作者： Nishiwaki, Koichi Kagami, Satoshi Kuffner, James J. Inaba, Masayuki Inoue, Hirochika Dept. of Mechano-Informatics Sch. of Info. Sci. and Technol. Univ. of Tokyo 7-3-1 Hongo Bunkyo-ku Tokyo 113-8656 Japan Digital Human Lab. Natl. Inst. of Adv. Sci. Technol. 2-41-6 Aomi Kouto-ku Tokyo 135-0064 Japan Carnegie Melon Univ. Robotics Institute 5000 Forbes Avenue Pittsburgh PA 15213 United States

We present a humanoid walking control system that generates body trajectories to follow a given desired motion online, A layered software and control architecture is used to aggregate system components and provide a framework for high-level autonomous locomotion behaviors. Walking characteristics such as desired torso movements, upper body posture, and step cycles, can be specified and used to generate stable whole-body waking trajectories online. The basic architecture consists of 4 layers: footstep planning, trajectory generation, trajectory modification from sensor feedback, and joint servo control. In order to test the complete system, we implemented an experimental top-level behavior that enables the robot to track and follow a moving target based on stereo vision feedback. We explain the overall system design and components, and present results based on our current implementation using the humanoid robot 'H7'.

关键词： Motion control

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Novel approach in the adaptive control of systems having strongly nonlinear coupling between their unmodeled internal degrees of freedom

Novel approach in the adaptive control of systems having str...

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2003 IEEE international conference on robotics and automation

作者： Rudas, Imre J. Tar, József K. Kozlowski, K. Jezernik, Karel Budapest Polytechnic Inst. of Math. and Comp. Sciences John von Neumann Fac. of Informatics H-1081 Budapest Népszinház utca 8 Hungary Budapest Polytechnic Inst. of Math. and Comp. Sciences H-1081 Budapest Népszinház utca 8 Hungary Poznan University of Technology Chair Contr. Robotics Comp. Sci. Ul. Piotrowo 3a 60-965 Poznan Poland University of Maribor Fac. of Elec. Eng. and Comp. Science Institute of Robotics Smetanova ul. 17 SI-2000 Maribor Slovenia

The application of a novel branch of Computational Cybernetics is extended to the adaptive control of very inaccurately and partly modeled electromechanical systems also having unmodeled non-linear dynamic coupling with their environment. The method uses "uniform structures" for modeling, and "uniform procedures" for "repetitive" or cumulative learning like in the case of the "traditional" soft computing approaches. But it considerably reduces the number of free parameters to be set, and also replaces the process of parameter tuning with simple, lucid, and explicit algebraic operations of limited number of steps. It is demonstrated via simulation that the control can operate even if strongly nonlinear terms (Coulomb friction and sticking combined with the elastic and viscous terms of the unmodeled external interaction in the Stribeck model), and elastically deformable joints are present. As a paradigm a mechanically 3 DOF SCARA arm actuated by voltage-controlled DC motors is considered. The system has 9 degrees of freedom (6 mechanical and 3 electrical). For the controller only three mechanical degrees of freedom are modeled. It is concluded that the control can efficiently compensate the effect of the unmodeled degrees of freedom, the external interaction, and the inaccuracy of the modeled part of the robot.

关键词： Adaptive control systems

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Humanoid Arm Motion Planning using Stereo Vision and RRT Search

Humanoid Arm Motion Planning using Stereo Vision and RRT Sea...

引用

2003 IEEE/RSJ international conference on Intelligent Robots and Systems

作者： Kagami, Satoshi Kuffner, James J. Nishiwaki, Koichi Okada, Kei Inaba, Masayuki Inoue, Hirochika Digital Human Lab. Natl. Inst. of Adv. Sci./Technology CREST Program Japan Sci./Technology Corporation School of Computer Science Carnegie Mellon University Dept. of Mechano-Informatics Sch. of Info. Science and Technology Univ. of Tokyo

This paper describes an experimental stereo vision based motion planning system for humanoid robots. The goal is to automatically generate arm trajectories that avoid obstacles in unknown environments from high-level task commands. Our system consists of three components: 1) environment sensing using stereo vision with disparity map generation and online consistency checking, 2) probabilistic mesh modeling in order to accumulate continuous vision input, and 3) motion planning for the robot arm using RRTs (Rapidly exploring Random Trees). We demonstrate results from experiments using an implementation designed for the humanoid robot H7.

关键词： Intelligent robots

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The convex integrated design (CID) method: Necessary and sufficient conditions for existence of solution

The convex integrated design (CID) method: Necessary and suf...

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IEEE international conference on robotics, Intelligent Systems and Signal Processing, RISSP 2003

作者： Fu, Ke Mills, J.K. Department of Mechanical and Industrial Engineering University of Toronto 5 King's College Rd. TorontoONM5S 3G8 Canada

Recently, a convex approach to solve the simultaneous mechanical structure and control system design, referred to as convex integrated design (CID) method, was proposed. This method can successfully solve the problem of integrated system design, in which the mechanical structure parameters, the controller structure and control gains, are simultaneously determined. Despite its effectiveness in solving the integrated system design problem, tie CID method may yield an integrated system design problem that has no solution. The reason for this is analyzed in this paper, and the necessary and sufficient conditions for a solution to the integrated system design problem by CID method are proved mathematically. Simulation results based on an experiment conducted on a linear positioning system are given in this paper and validate the proposed theorem in this paper. © 2003 IEEE.

关键词： Problem solving

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Learning resources brokerage systems: an agent-based virtual market model

Learning resources brokerage systems: an agent-based virtual...

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international conference on Advanced Learning Technologies (ICALT)

作者： N. Manouselis D. Sampson Advanced e-Services for the Knowledge Society Research Unit Centre for Research and Technology Hellas Informatics and Telematics Institute Athens Greece Department of Technology Education and Digital Systems University of Piraeus Peiraias Greece

We discuss issues related with learning resources brokerage systems. It introduces a market-based modeling approach and proposes a virtual market model design of a brokerage system based on multiagent analysis.

关键词： Resource management Educational technology Intellectual property automation Microeconomics Context modeling Software engineering informatics Telematics Digital systems

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Non-conventional processing of noisy signal in the adaptive control of hydraulic differential servo cylinders 3

Non-conventional processing of noisy signal in the adaptive ...

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3rd IEEE international Symposium on Intelligent Signal Processing, WISP 2003

作者： Tar, József K. Rudas, Imre J. Szeghegyi, Ágnes Kozlowski, Krzysztof Budapest Polytechnic John von Neumann Faculty of Informatics Népszínház utca 8 BudapestH-1081 Hungary Budapest Polytechnic Károly Keleti Faculty of Economics Népszínház utca 8 BudapestH-1081 Hungary Poznań University of Technology Chair of Control Robotics and Computer Science Ul. Piotrowo 3a Poznań60-965 Poland

ISBN: (纸本)0780378644

Hydraulic differential electric servo cylinders are strongly non-linear, coupled multivariable electromechanical tools applicable for driving e.g. manipulators. The primary controllable physical agent in such systems is the time-derivative of the pressure of the working fluid in the appropriate chambers of the cylinder. Besides the nonlinearities of hydrodynamical origin discontinous ones described by the Stribeck model originate from the friction between the cylinder and the piston. This model contains the terms of the viscous, the static, and the adhesive contributions of friction. Whenever the velocity of the piston changes its sign alternating friction force of considerable amplitude appears. Such behavior means serious difficulty in feedback-based continuous path (CP) dynamic control whenever a nominal trajectory asymptotically approaching a zero velocity segment is needed: the system itself generates a noise-like acceleration signal to be used in the control. Since hydraulic drives have considerable advantages in comparison with electric ones it would be desirable to extend their application to dynamic CP control, too. For this purpose a special adaptive non-linear control dealing with the system-generated noisy signals was elaborated. The method is rather based on a novel branch of soft computing slightly supported by a uonconventional noise filtering. In the present paper the capabilities of the improved controller are illustrated via simulation. ©2003 IEEE.

关键词： Cylinders (shapes)

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Dimensionality reduction and reproduction with hierarchical NLPCA neural networks - extracting common space of multiple humanoid motion patterns

Dimensionality reduction and reproduction with hierarchical ...

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IEEE international conference on robotics and automation (ICRA)

作者： K. Tatani Y. Nakamura Department of Mechano-Informatics University of Tokyo Bunkyo Tokyo Japan

Since a humanoid robot takes the morphology of human, users as pilots will intuitively expect that they can freely manipulate the humanoid extremities. However, it is difficult to simultaneously issue such multiple control inputs to the whole body with simple devices. It is useful for motion pattern generation to get mapping functions bidirectionally between a large number of control inputs for a humanoid robot and a small number of control inputs that a user can intentionally operate. For the purpose of generation of voluntary movement of humanoid extremities, we introduce hierarchical NLPCA neural networks that forms low dimensional variables out of multi-variate inputs of joint angles. The problem is to find common space that affords unified manipulable variables not only for specific motion like walk but also multiple whole body motion patterns. The interesting result is shown that 1 dimensional inputs can generate an approximate walking pattern, and also 3 dimensional inputs does 9 types of motion patterns.

关键词： Neural networks Humanoid robots Humans Extremities Morphology Motion control robotics and automation Muscles Kinematics Electronic mail

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User-centred design & development of an applied Web-based ITS

User-centred design & development of an applied Web-based IT...

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international conference on Advanced Learning Technologies (ICALT)

作者： M. Mavrikis A. Maciocia D. Abela J. Lee School of Mathematics University of Edinburgh Edinburgh UK School of Informatics University of Edinburgh Edinburgh UK

We describe how a user-centred engineering cycle is employed during the development of a Web-based instructional system for first year science and engineering students learning mathematics. After an overview of the relevant methodology and appropriate theory that influences the system's design, we briefly present the system together with the steps that led to its integration in the teaching environment as well as to reusable materials and components for other environments.

关键词： User centered design Navigation Prototypes Feedback Packaging Mathematics informatics control systems Education Animation

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Educational robotics in a systems design masters program

Educational robotics in a systems design masters program

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international conference on Advanced Learning Technologies (ICALT)

作者： U. Gerecke P. Hohmann B. Wagner Learning Laboratory Lower Saxony Hanover Germany

We present the concepts of our MoRob (modular educational robotic toolbox) project, which aims to provide a robot platform for university teaching and research. Characteristics are scalability, modularity, flexibility and ease of use. Within the context of this project, robots are used in student projects. Lego Mindstorms has been successfully applied at an introductory level, and insights from this are incorporated into a new masters degree in systems design, using other, higher-level platforms. With these, MSc. students will have the tools to tackle design tasks which are much more complex and sophisticated than the tasks that can be achieved with Lego. This also implies that, applying our concepts, a much broader range of engineering concepts can be taught. Our new system will be applicable as a vehicle for experimentation in a variety of courses. Therefore, a standardized teaching environment will emerge which will be easy to use in different applications.

关键词： Educational robots Education Robot sensing systems robotics and automation Automotive engineering Service robots Hardware Intelligent robots Scalability Remotely operated vehicles

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Novel approach in the adaptive control of systems having strongly nonlinear coupling between their unmodeled internal degrees of freedom

Novel approach in the adaptive control of systems having str...

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IEEE international conference on robotics and automation (ICRA)

作者： I.J. Rudas K. Kozlowski J.K. Tar K. Jezernik John von Neumann Faculty of Informatics Institute of Mathematical and Computational Sciences Budapest Hungary Chair of Control Robotics and Computer Science Poznan University of Technology Poznan Poland Budapest Polytechnic Institute of Mathematical and Computational Sciences Budapest Faculty of Electrical Eng. and Computer Science Institute of Robotics University of Maribor Slovenia

The application of a novel branch of computational cybernetics is extended to the adaptive control of very inaccurately and partly modeled electromechanical systems also having unmodeled non-linear dynamic coupling with their environment. The method uses "uniform structures" for modeling, and "uniform procedures" for "repetitive" or cumulative learning like in the case of the "traditional" soft computing approaches. But it considerably reduces the number of free parameters tuning with simple, lucid, and explicit algebraic operations of limited number of steps. It is demonstrated via simulation that the control can operate even if strongly nonlinear terms (Coulomb friction and sticking combined with the elastic and viscous terms of the unmodeled external interaction in the Stribeck model), and elastically deformable joints are present. As a paradigm a mechanically 3 DOF SCARA arm actuated by voltage-controlled DC motors is considered. The system has 9 degrees of freedom (6 mechanical and 3 electrical). For the controller only three mechanical degrees can efficiently compensate the effect of the unmodeled degrees of freedom, the external interaction, and the inaccuracy of the modeled part of the robot.

关键词： Adaptive control Couplings Deformable models Cybernetics Electromechanical systems Computational modeling Friction Voltage DC motors Robots

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