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Whole Body Model Predictive control with a Memory of Motion: Experiments on a Torque-controlled Talos

Whole Body Model Predictive Control with a Memory of Motion:...

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IEEE international conference on robotics and automation (ICRA)

作者： Ewen Dantec Rohan Budhiraja Adria Roig Teguh Lembono Guilhem Saurel Olivier Stasse Pierre Fernbach Steve Tonneau Sethu Vijayakumar Sylvain Calinon Michel Taix Nicolas Mansard LAAS-CNRS Universite de Toulouse CNRS Toulouse France Artificial and Natural Intelligence Toulouse Institute France PAL Robotics Barcelona Spain Idiap Research Institute Switzerland TOWARD Toulouse France School of Informatics University of Edinburgh UK

This paper presents the first successful experiment implementing whole-body model predictive control with state feedback on a torque-control humanoid robot. We demonstrate that our control scheme is able to do whole-body target tracking, control the balance in front of strong external perturbations and avoid collision with an external object. The key elements for this success are threefold. First, optimal control over a receding horizon is implemented with Crocoddyl, an optimal control library based on differential dynamics programming, providing state-feedback control in less than 10 ms. Second, a warm start strategy based on memory of motion has been implemented to overcome the sensitivity of the optimal control solver to initial conditions. Finally, the optimal trajectories are executed by a low-level torque controller, feedbacking on direct torque measurement at high frequency. This paper provides the details of the method, along with analytical benchmarks with the real humanoid robot Talos.A video of the experiment is available at https://***/videos/watch/cbc25927-337c-4635-a1bc-153b9aeb4135

关键词： State feedback Target tracking Perturbation methods Memory management Optimal control Humanoid robots Real-time systems

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Online Dynamic Trajectory Optimization and control for a Quadruped Robot

Online Dynamic Trajectory Optimization and Control for a Qua...

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IEEE international conference on robotics and automation (ICRA)

作者： Oguzhan Cebe Carlo Tiseo Guiyang Xin Hsiu-chin Lin Joshua Smith Michael Mistry School of Informatics Institute of Perception Action and Behaviour University of Edinburgh Edinburgh United Kingdom School of Computer Science McGill University

Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep trajectories for multiple steps. The locomotion task can be defined with contact locations, base motion or both, making the algorithm suitable for multiple scenarios (e.g., presence of moving obstacles). The planner uses a simplified momentum-based task space model for the robot dynamics, allowing computation times that are fast enough for online replanning. This fast planning capability also enables the quadruped to accommodate for drift and environmental changes. The algorithm is tested on simulation and a real robot across multiple scenarios, which includes uneven terrain, stairs and moving obstacles. The results show that the planner is capable of generating stable trajectories in the real robot even when a box of 15 cm height is placed in front of its path at the last moment.

关键词： Legged locomotion Computational modeling Heuristic algorithms conferences Dynamics Stairs Planning

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Approach to uav swarm control and collision-free reconfiguration 15th

Approach to uav swarm control and collision-free reconfigura...

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15th international conference on Electromechanics and robotics Zavalishin’s Readings, ERZR 2020

作者： Izhboldina, Valeriia Lebedev, Igor Shabanova, Aleksandra St. Petersburg Institute for Informatics and Automation of the Russian Academy of Sciences 39 14th Line St. Petersburg199178 Russia

ISBN: (纸本)9789811555794

In this paper, the problem of unmanned aerial vehicle (UAV) swarm control is considered. As the most promising approach to UAV swarm control a composite one was chosen. The proposed conceptual model of the composite method includes operator, base station, and two communication networks: one between agents and another one between base station and agents. UAV trajectory computation is fulfilled on the land-based station using swarm reconfiguration algorithm. Two enhanced 3D reconfiguration algorithms were presented: eased and based on divide and conquer—which differ in used collision avoidance methods. Eased algorithm contains a method of parallel translation of target points, homothety, and target coordinate exchange method. To ensure control of greater swarm size, algorithm based on divide and conquer was developed. Algorithm based on divide and conquer includes parallel translation, delay allocation method, collision graph composition and divide and conquer algorithm. For evaluation algorithm performance tests in virtual environment were performed on swarms of different sizes (from 10 to 100 agents). Greater trajectory calculation time and swarm reconfiguration time are explained by the greater number of used methods. However, the total trajectory and the average number of collisions calculated using algorithm based on divide and conquer have smaller values compared to eased algorithm. Eased algorithm provides UAV movement without collisions with a swarm size of 70 agents, while algorithm based on divide and conquer which has a limit of 90 agents. Therefore, for swarm reconfiguration with a large number of agents, algorithm based on divide and conquer is more preferable. © The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2021.

关键词： Base stations

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ARTag, AprilTag and CALTag Fiducial Systems Comparison in a Presence of Partial Rotation: Manual and Automated Approaches 14th

ARTag, AprilTag and CALTag Fiducial Systems Comparison in a ...

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14th international conference on informatics in control, automation and robotics (ICINCO)

作者： Shabalina, Ksenia Sagitov, Artur Sabirova, Leysan Li, Hongbing Magid, Evgeni Kazan Fed Univ Higher Inst Informat Technol & Informat Syst Intelligent Robot Syst Lab 35 Kremlyovskaya St Kazan 420008 Russia Shanghai Jiao Tong Univ Dept Instrument Sci & Engn Shanghai Peoples R China

ISBN: (纸本)9783030112929;9783030112912

Fiducial marker systems have unique designs and various geometric shapes but all of them could be automatically detected with cameras. Fiducial marker system are used in such fields as augmented reality applications, medicine, space and robot-assisted tasks. A variety of applications determines criteria, which characterize qualitative properties of a marker and include such evaluation benchmarks as resilience to occlusion, distance to a marker, false positive and false negative rates, sensitivity to illumination, and others. This paper presents experimental comparison of existing ARTag, AprilTag, and CALTag systems with regard to their reliability and detection rate in occlusions of various types and intensities. Two camera types are used for experiments: inexpensive Web camera FaceCam 1000X and a high fidelity camera, which is a main vision sensor of a Russian humanoid robot AR-601M. In addition, we describe preliminary results of virtual experiments in ROS Gazebo environment. Our long term goal is to calibrate humanoid robot manipulators in real-world environment applying a pre-calibrated camera of the robot, while the presented in this paper results help selecting a most suitable marker system for further calibration procedures.

关键词： robotics Camera callibration Algorithm comparison Experiments Virtual models ARTag AprilTag CALTag Gazebo

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Versatile Locomotion by Integrating Ankle, Hip, Stepping, and Height Variation Strategies

Versatile Locomotion by Integrating Ankle, Hip, Stepping, an...

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IEEE international conference on robotics and automation (ICRA)

作者： Jiatao Ding Songyan Xin Tin Lun Lam Sethu Vijayakumar Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS) Shenzhen China School of Informatics University of Edinburgh Edinburgh United Kingdom Chinese University of Hong Kong Shenzhen AIRS

Stable walking in real-world environments is a challenging task for humanoid robots, especially when considering the dynamic disturbances, e.g., caused by external perturbations that may be encountered during locomotion. The varying nature of disturbance necessitates high adaptability. In this paper, we propose an enhanced Nonlinear Model Predictive control (NMPC) approach for robust and adaptable walking – we term it versatile locomotion, by limiting both the Center of Pressure (CoP) and Divergent Component of Motion (DCM) movements. Due to utilization of the Nonlinear Inverted Pendulum plus Flywheel model, the robot is endowed with the capabilities of CoP manipulation (if equipped with finitesized feet), step location adjustment, upper body rotation, and vertical height variation. Considering the feasibility constraints, especially the usage of relaxed CoP constraints, the NMPC scheme is established as a Quadratically Constrained Quadratic Programming problem, which is solved efficiently by Sequential Quadratic Programming with enhanced solvability. Simulation experiments demonstrate the effectiveness of our method to recruit optimal hybrid strategies in order to realize versatile locomotion, for the robot with finite-sized or point feet.

关键词： Legged locomotion Limiting Perturbation methods Humanoid robots Flywheels Quadratic programming Task analysis

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A Passive Navigation Planning Algorithm for Collision-free control of Mobile Robots

A Passive Navigation Planning Algorithm for Collision-free C...

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IEEE international conference on robotics and automation (ICRA)

作者： Carlo Tiseo Vladimir Ivan Wolfgang Merkt Ioannis Havoutis Michael Mistry Sethu Vijayakumar Edinburgh Centre for Robotics Institute of Perception Action and Behaviour School of Informatics University of Edinburgh Oxford Robotics Institute University of Oxford

Path planning and collision avoidance are challenging in complex and highly variable environments due to the limited horizon of events. In literature, there are multiple model- and learning-based approaches that require significant computational resources to be effectively deployed and they may have limited generality. We propose a planning algorithm based on a globally stable passive controller that can plan smooth trajectories using limited computational resources in challenging environmental conditions. The architecture combines the recently proposed fractal impedance controller with elastic bands and regions of finite time invariance. As the method is based on an impedance controller, it can also be used directly as a force/torque controller. We validated our method in simulation to analyse the ability of interactive navigation in challenging concave domains via the issuing of via-points, and its robustness to low bandwidth feedback. A swarm simulation using 11 agents validated the scalability of the proposed method. We have performed hardware experiments on a holonomic wheeled platform validating smoothness and robustness of interaction with dynamic agents (i.e., humans and robots). The computational complexity of the proposed local planner enables deployment with low-power micro-controllers lowering the energy consumption compared to other methods that rely upon numeric optimisation.

关键词： Navigation Computational modeling Scalability Robustness Planning Trajectory Mobile robots

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Construction of land base station for uav maintenance automation 15th

Construction of land base station for uav maintenance automa...

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15th international conference on Electromechanics and robotics Zavalishin’s Readings, ERZR 2020

作者： Lebedev, Igor Ianin, Anton Usina, Elizaveta Shulyak, Viktor St. Petersburg Institute for Informatics and Automation of the Russian Academy of Sciences 39 14th Line St. Petersburg199178 Russia St. Petersburg State University of Aerospace Instrumentation 67 st. Bolshaya Morskaya St. Petersburg190000 Russia

ISBN: (纸本)9789811555794

This paper proposes a construction of a land-based base station for automated unmanned aerial vehicle (UAV) maintenance. The station is intended for UAV storage, protection from poor weather conditions, battery replacement and information transfer. UAV data transfer at the station allows to reduce UAV energy consumption in flight. The base station has two levels: the top one and the bottom one. The construction of base station allows to store UAVs with large dimensions, weighting up to 12 kg. The top level of the station consists of a retractable roof and meteo-sensors. The roof design provides for solar panel installation on it, what allows reducing base station energy consumption from batteries. Materials for the roof were chosen with intention to minimize roof weight and reduce load on drives. The bottom level of the base station contains the landing site, the battery replacement mechanism, the landing site lifting mechanism, the base station control system, as well the energy distribution system. The landing site features an ArUco-marker with backlight and includes mechanisms for UAV centering and fixation. The marker with backlight includes a plexiglass sheet, light emitting diodes (LEDs), a reflective substrate and an opaque scatterer. The outline lighting ensures marker detection in low light conditions. In cases, when the marker cannot be detected by active lighting, dependency of the required photosensitivity of the camera from the UAV flight altitude is presented. © The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2021.

关键词： Base stations

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Quantifying Robotic Swarm Coverage 15th

Quantifying Robotic Swarm Coverage

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15th international conference on informatics in control, automation and robotics (ICINCO)

作者： Anderson, Brendon G. Loeser, Eva Gee, Marissa Ren, Fei Biswas, Swagata Turanova, Olga Haberland, Matt Bertozzi, Andrea L. Univ Calif Berkeley Dept Mech Engn Berkeley CA 94720 USA Univ Calif San Diego Dept Math San Diego CA 92093 USA Cornell Univ Ctr Appl Math Ithaca NY 14853 USA Univ Calif Berkeley Ind Engn & Operat Res Berkeley CA 94720 USA Univ Edinburgh Sch Math Edinburgh EH9 3FD Midlothian Scotland Inst Adv Study Sch Math Princeton NJ 08540 USA Cal Poly BioResource & Agr Engn San Luis Obispo CA 93407 USA Univ Calif Los Angeles Dept Math Los Angeles CA 90095 USA

ISBN: (纸本)9783030319939;9783030319922

In the field of swarm robotics, the design and implementation of spatial density control laws has received much attention, with less emphasis being placed on performance evaluation. This work fills that gap by introducing an error metric that provides a quantitative measure of coverage for use with any control scheme. The proposed error metric is continuously sensitive to changes in the swarm distribution, unlike commonly used discretization methods. We analyze the theoretical and computational properties of the error metric and propose two benchmarks to which error metric values can be compared. The first uses the realizable extrema of the error metric to compute the relative error of an observed swarm distribution. We also show that the error metric extrema can be used to help choose the swarm size and effective radius of each robot required to achieve a desired level of coverage. The second bench-mark compares the observed distribution of error metric values to the probability density function of the error metric when robot positions are randomly sampled from the target distribution. We demonstrate the utility of this benchmark in assessing the performance of stochastic control algorithms. We prove that the error metric obeys a central limit theorem, develop a streamlined method for performing computations, and place the standard statistical tests used here on a firm theoretical footing. We provide rigorous theoretical development, computational methodologies, numerical examples, and MATLAB code for both benchmarks.

关键词： Swarm robotics Multi-agent systems Coverage optimization Central limit theorem

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Design of a Soft Gripper Mold for an End Effector in the automation of Sugarcane Packaging 12

Design of a Soft Gripper Mold for an End Effector in the Aut...

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IEEE 12th international conference on Humanoid, Nanotechnology, Information Technology, Communication and control, Environment, and Management (HNICEM)

作者： Evangelista, Danielle Grace D. Bedruz, Rhen Anjerome R. Vicerra, Ryan Rhay P. Bandala, Argel A. De La Salle Univ Mfg Engn & Management Dept Manila Philippines De La Salle Univ Elect & Commun Engn Dept Manila Philippines

ISBN: (纸本)9781665419710

Sugarcane is one of the top three most produced agrarian crops in the Philippines. In addition to that, the country belongs to the top 10 countries in the world that is wellknown for sugarcane production and reported to be the fifth producer of sugarcane in the asia Pacific Region as of 2017. In the export and distribution of the crop to both local and foreign consumers, packaging is an important part of the manufacturing process with which its efficiency and speed can be improved by using pick-and-place robots. Additionally, careful grasping must be observed in handling the crops to avoid bruising or damaging and that it must be kept at standard and optimum conditions in its travel to the consumers. Considering the ability of soft robots, the dimensions of sugarcane crops, and end effector attributes suitable for the packaging of sugarcane crops, this study aims to design a soft gripper mold for an end effector to be used in the sugarcane packaging process. The design is a rib-segmented, three-fingered gripper with pneumatic and textile layers. It is 135 mm in length, 45 mm in width, and 10 mm in height. Based on these, the researchers aim to use this design for fabrication.

关键词： soft gripper sugarcane packaging soft robotics mold

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ICINCO 2018 - Proceedings of the 15th international conference on informatics in control, automation and robotics

ICINCO 2018 - Proceedings of the 15th International Conferen...

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15th international conference on informatics in control, automation and robotics, ICINCO 2018

ISBN: (纸本)9789897583216

The proceedings contain 147 papers. The topics discussed include: rule control of teleo-reactive, multi-tasking, communicating robotic agents;optimal time-sampling problem in a statistical control with a quadratic cost functional: analytical and numerical approaches;variable support control for the wave equation: a multiplier approach;towards a knowledge-driven maintenance support system for manufacturing lines;nonlinear control structure design using grammatical evolution and Lyapunov equation based optimization;numerical investigation of Newton’s method for solving discrete-time algebraic Riccati equations;fast and simple model for free hanging, pre-impregnated carbon fiber material;facial temperature markers for mental stress assessment in human-machine interface (HMI) control system;and implementation, identification and control of an efficient electric actuator for humanoid robots.

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