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Humanoids walk with feedforward dynamic pattern and feedback sensory reflection

Humanoids walk with feedforward dynamic pattern and feedback...

引用

IEEE international conference on robotics and automation (ICRA)

作者： Qiang Huang Y. Nakamura T. Inamura Dept. of Mechatronics Beijing Institute of Technology Beijing China CREST & Dept. of Mechano-Informatics University of Tokyo Bunkyo Tokyo Japan

ISBN: (纸本)0780365763

Since a biped humanoid inherently suffers from instability and always risks tipping over, ensuring high stability and reliability of walking is one of the most important goals. The paper proposes a walk control consisting of a feedforward dynamic pattern and a feedback sensory reflex. The dynamic pattern is a rhythmic and periodic motion, which satisfies the constraints of dynamic stability and ground conditions, and is generated assuming that the models of the humanoid and the environment are known. The sensory reflex is a simple, but rapid motion programmed with respect to sensory information. The sensory reflex, we propose, consists of the body posture control, the actual ZMP (zero moment point) control, and the landing time control. With the dynamic pattern and the sensory reflex, it is possible for the humanoid to walk rhythmically and to adapt itself to environmental uncertainties. The effectiveness of our proposed method was confirmed by walk experiments of an actual 26 DOF humanoid on an unknown rough terrain and in the presence of disturbances.

关键词： Feedback Reflection Humans Biological system modeling Humanoid robots Legged locomotion Mechatronics Stability Uncertainty Aging

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A distributed environment for virtual and/or real experiments for underwater robots

A distributed environment for virtual and/or real experiment...

引用

IEEE international conference on robotics and automation (ICRA)

作者： P. Ridao J. Battle J. Amat M. Carreras Informatics and Applications Institute Univeristy of Girona Girona CP Spain Automatic Control and Computer Eng. Dept Politechnical University of Catalunya Barcelona Spain

ISBN: (纸本)0780365763

This paper presents the distributed environment for virtual and/or real experiments for underwater robots (DEVRE). This environment is composed of a set of processes running on a local area network composed of three sites: 1) the onboard AUV computer; 2) a surface computer used as human-machine interface (HMI); and 3) a computer used for simulating the vehicle dynamics and representing the virtual world. The HMI can be transparently linked to the real sensors and actuators dealing with a real mission. It can also be linked with virtual sensors and virtual actuators, dealing with a virtual mission. The aim of DEVRE is to assist engineers during the software development and testing in the lab prior to real experiments.

关键词： Robots Computer interfaces Computer networks Actuators Local area networks Man machine systems Computational modeling Computer simulation Vehicle dynamics Automotive engineering

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Design and implementation of remotely operation interface for humanoid robot

Design and implementation of remotely operation interface fo...

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IEEE international conference on robotics and automation (ICRA)

作者： S. Kagami J.J. Kuffner K. Nishiwaki T. Sugihara T. Michikata T. Aoyama M. Inaha H. Inoue Dept. of Mechano-Informatics Univ. of Tokyo Bunkyo-ku Tokyo Japan

ISBN: (纸本)0780365763

This paper describes a design of remote operation interface for humanoid robot with following three functions: (1) Body DOFs control interface through 3D robot model in a virtual environment, and it has two types of online stabilizing software for maintaining the body balance. (2) Environmental recognition display interface for sensors, sound and 3D vision. (3) Voice and face recognition interface for interacting with operator and a human in front of the robot body. Then, implementation and experiments on our humanoid robot H6 are denoted.

关键词： Humanoid robots Robot sensing systems Human robot interaction Robot vision systems Software maintenance Face recognition Biological system modeling Virtual environment Speech recognition Three dimensional displays

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Motion planning for humanoid robots under obstacle and dynamic balance constraints

Motion planning for humanoid robots under obstacle and dynam...

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IEEE international conference on robotics and automation (ICRA)

作者： J. Kuffner K. Nishiwaki S. Kagami M. Inaba H. Inoue Department of mechano-Informatics University of Tokyo Japan

ISBN: (纸本)0780365763

We present an approach to path planning for humanoid robots that computes dynamically-stable, collision-free trajectories from full-body posture goals. Given a geometric model of the environment and a statically-stable desired posture, we search the configuration space of the robot for a collision-free path that simultaneously satisfies dynamic balance constraints. We adapt existing randomized path planning techniques by imposing balance constraints on incremental search motions in order to maintain the overall dynamic stability of the final path. A dynamics filtering function that constrains the ZMP (zero moment point) trajectory is used as a post-processing step to transform statically-stable, collision-free paths into dynamically-stable, collision-free trajectories for the entire body. Although we have focused our experiments on biped robots with a humanoid shape, the method generally applies to any robot subject to balance constraints (legged or not). The algorithm is presented along with computed examples using the humanoid robot "H6".

关键词： Motion planning Humanoid robots Path planning Legged locomotion Hardware Vehicle dynamics Trajectory Stability Robot sensing systems Robot control

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Mission path following for an autonomous unmanned airship

Mission path following for an autonomous unmanned airship

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IEEE international conference on robotics and automation (ICRA)

作者： J.R. Azinheira E. Carneiro de Paiva J.G. Ramos S.S. Beuno Instituto Superior Técnico-IDMEC/IST Lisboa Portugal Centro de Ciências Exatas e Tecnológicas Universidade São Francisco Sao Paulo Brazil Informatics Technology Center-IA CTI Campinas Brazil

The development of an unmanned airship capable of autonomous flight over user-defined locations for aerial data and imagery acquisition is the objective of the AURORA project. One important mission problem is the flight path following of the vehicle through a set of pre-defined points at a given altitude and velocity. In this article, a path tracking error generation methodology is presented and two different strategies for the guidance problem, one based on a H/sub /spl infin// control technique and another based on a PI control, are proposed and compared through a simulated case study.

关键词： Navigation control systems Unmanned aerial vehicles Remote monitoring Robot sensing systems informatics Remotely operated vehicles Error correction Pi control Surveillance

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Kinematics of gel robots made of electro-active polymer PAMPS gel

Kinematics of gel robots made of electro-active polymer PAMP...

引用

IEEE international conference on robotics and automation (ICRA)

作者： M. Otake M. Inaba H. Inoue Department of Mechano-Informatics University of Tokyo Tokyo Japan

Introduces and describes a kinematic model based on a chemical reaction to control robots made of soft materials, poly (2-acrylamido-2-methylpropane sulfonic acid) gel (PAMPS gel). Experiments were conducted using a prototype mechanism whose energy is supplied by applying an electric field in a surfactant solution. We have verified the validity of our model by comparing the experimental and simulation results obtained by bending a flexible strip of PAMPS gel under a uniform electric field.

关键词： Kinematics Polymer gels Shape control Robot sensing systems Muscles Actuators Robot control Conducting materials Prototypes Chemicals

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Dynamics filter - concept and implementation of online motion generator for human figures

Dynamics filter - concept and implementation of online motio...

引用

IEEE international conference on robotics and automation (ICRA)

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

Humanoid robots are required to make a variety of dynamics and even expressive motions in changing environments. However, the conventional methods for generating humanoid motions fail do achieve this requirement since they can only generate quite artificial and predefined motions through rather complicated optimization processes. In this paper, we propose the concept of "dynamics filter" which transforms a physically inconsistent motion into a consistent one, and provide an example of its implementation using feedback control and local optimization. The optimization is based on the equation of motion of constrained kinematic chains, which is derived from our previously proposed method for computing the dynamics of structure-varying kinematic chains. The proposed method can be applied to online motion generator of humanoid robots.

关键词： Filters Humans Humanoid robots Equations Databases Kinematics Character generation Electronic mail Transforms Motion control

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Design of active/passive hybrid compliance in the frequency domain-shaping dynamic compliance of humanoid shoulder mechanism

Design of active/passive hybrid compliance in the frequency ...

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IEEE international conference on robotics and automation (ICRA)

作者： M. Okada Y. Nakamura S. Hoshino Department of Mechano-Informatics University of Tokyo Bunkyo Tokyo Japan CREST Japan Science and Technology Corporation

Design and control of mechanical compliance would be one of the most important technical foci in making humanoid robots really interactive with humans. For task execution and safety insurance the issue must be discussed and offers useful and realistic solutions. We propose a theoretical design principle of mechanical compliance. Passive compliance implies a mechanically embedded compliance in drive systems and is reliable but not tunable in nature, while active compliance is a controlled compliance and, therefore, widely tunable, but less reliable specially in the high frequency domain. The basic idea of the paper is to use active compliance in the lower frequency domain and to rely on passive compliance in the higher frequency. H/sub /spl infin// control theory based on systems identification allows a systematic method to design the hybrid compliance in frequency domain. The proposed design is applied to the shoulder mechanism of a humanoid torso robot. Its implementation and experiments are to be shown with successful results.

关键词： Frequency domain analysis Humanoid robots Humans Safety Insurance control systems control theory System identification Design methodology Torso

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Using collision avoidance algorithms for designing multi-robot emergent behaviors

Using collision avoidance algorithms for designing multi-rob...

引用

IEEE international Workshop on Intelligent Robots and Systems (IROS)

作者： R. Polesel R. Rosati A. Speranzon C. Ferrari E. Pagello Intelligent Autonomous Systems Laboratory Department of Electronics and Informatics University of Padua Padova Italy LADSEB Institute of CNR Padua Italy

We discuss how to induce a set of collective emergent behaviors into a team of real robots used for soccer robotics. The activation of robot behaviors is organized according to a multi-level control architecture. The emergent cooperative abilities, like exchanging a ball, are achieved through the use of efficient collision avoidance algorithms implemented by a small set of robots able to frequently swap their roles. Our algorithms have been tested on a couple of real robots, Bart and Homer, which played the final game with the middle size league, at RoboCup'99, in Stockholm. This approach can be generalized to allow multi-robot systems to perform various kind of collective tasks in the entertainment field.

关键词： Collision avoidance Algorithm design and analysis robotics and automation Multirobot systems Intelligent robots Intelligent systems Robot kinematics Testing Cognitive robotics Laboratories

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A control system development environment for AURORA's semi-autonomous robotic airship

A control system development environment for AURORA's semi-a...

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IEEE international conference on robotics and automation (ICRA)

作者： E.C. de Paiva S.S. Bueno S.B.V. Gomes J.J.G. Ramos M. Bergerman Informatics Technology Center Automation Institute Sao Paulo Brazil

Development of reliable control systems for semi-autonomous unmanned aerial vehicles require the use of extensive simulation data provided by an accurate six-degrees-of-freedom dynamic model. In this article we describe a Simulink-based control system development environment for Project AURORA's unmanned robotic airship, as well as the control algorithms and supervisory level of AURORA's control system. A complete take-off to landing mission illustrates the utilization of this environment.

关键词： control systems Robots Actuators control system synthesis Automatic control robotics and automation Remote monitoring Navigation Nonlinear dynamical systems informatics

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