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Templates for pre-grasp sliding interactions

robotics AND AUTONOMOUS SYSTEMS 2012年第3期60卷 411-423页

作者： Kappler, Daniel Chang, Lillian Y. Pollard, Nancy S. Asfour, Tamim Dillmann, Ruediger Karlsruhe Inst Technol Inst Anthropomat Humanoid Res Grp Humanoids & Intelligence Syst Lab Karlsruhe Germany Carnegie Mellon Univ Sch Comp Sci Inst Robot Pittsburgh PA 15213 USA Univ Washington Intel Corp Intel Sci & Technol Ctr Seattle WA 98195 USA Karlsruhe Inst Technol Dept Informat Inst Anthropomat Karlsruhe Germany Carnegie Mellon Univ Dept Comp Sci Pittsburgh PA 15213 USA

In manipulation tasks that require object acquisition, pre-grasp interaction such as sliding adjusts the object in the environment before grasping. This change in object placement can improve grasping success by making desired grasps reachable. However, the additional sliding action prior to grasping introduces more complexity to the motion planning process, since the hand pose relative to the object does not need to remain fixed during the pre-grasp interaction. Furthermore, anthropomorphic hands in humanoid robots have several degrees of freedom that could be utilized to improve the object interaction beyond a fixed grasp shape. We present a framework for synthesizing pre-grasp interactions for high-dimensional anthropomorphic manipulators. The motion planning is tractable because information from pre-grasp manipulation examples reduces the search space to promising hand poses and shapes. In particular, we show the value of organizing the example data according to object category templates. The template information focuses the search based on the object features, resulting in increased success of adapting a template pose and decreased planning time. (C) 2011 Elsevier B.V. All rights reserved.

关键词： Pre-grasp interaction Object manipulation humanoid robotics Pushing Sliding

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Design and development of five-fingered hands for a humanoid emotion expression robot

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INTERNATIONAL JOURNAL OF humanoid robotics 2007年第1期4卷 181-206页

作者： Roccella, Stefano Carrozza, Maria Chiara Cappiello, Giovanni Cabibihan, John-John Laschi, Cecilia Dario, Paolo Scuola Super Sant Anna ARTS Lab I-56127 Pisa Italy Kogakuin Univ Dept Mech Syst Engn Shinjuku Ku Tokyo Japan Waseda Univ Takanishi Lab Shinjuku Ku Tokyo 1698555 Japan

Among social infrastructure technologies, Robot Technology (RT) is expected to play an important role in solving the problems of the aging society. New generations of personal robots are expected to be capable of assisting humans in a variety of contexts and thus of interacting and communicating with them effectively and even in a friendly and natural way. Expressing human-like emotions is an important capability to this aim. The objectives of this work are the design and development of two five-fingered robotic hands for a humanoid upper body able to generate and express emotions. The specific design goals have been grasping and expression of emotions through hand gestures, as a complement to facial expression of emotions. The paper presents the design process of the robotic hands, named RCH-1 (Robocasa Hand No. 1), starting from the requirements deriving from their use in grasping and gestures. The resulting robotic hands are described in detail, together with the hand sensory systems. Experimental trials are then presented, aimed at assessing the hand performance and at validating their effectiveness in grasping and emotion expression, when mounted on the emotion expression humanoid robot WEAR (Waseda Eye No. 4 Refined).

关键词： humanoid robotics personal robotics robotic hand human-robot interaction emotion expression

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Vision-guided motion primitives for humanoid reactive walking: Decoupled versus coupled approaches

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INTERNATIONAL JOURNAL OF robotics RESEARCH 2015年第4-5期34卷 402-419页

作者： Garcia, Mauricio Stasse, Olivier Hayet, Jean-Bernard Dune, Claire Esteves, Claudia Laumond, Jean-Paul CIMAT AC Guanajuato Mexico CNRS LAAS F-31077 Toulouse 4 France Univ Sud Toulon Var Toulon France Univ Guanajuato Guanajuato Mexico

This paper proposes a novel visual servoing approach to control the dynamic walk of a humanoid robot. Online visual information is given by an on-board camera. It is used to drive the robot towards a specific goal. Our work is built upon a recent reactive pattern generator that make use of model predictive control (MPC) to modify footsteps, center of mass and center of pressure trajectories to track a reference velocity. The contribution of the paper is to formulate the MPC problem considering visual feedback. We compare our approach with a scheme decoupling visual servoing and walking gait generation. Such a decoupled scheme consists of, first, computing a reference velocity from visual servoing;then, the reference velocity is the input of the pattern generator. Our MPC-based approach allows to avoid a number of limitations that appears in decoupled methods. In particular, visual constraints can be introduced directly inside the locomotion controller, while camera motions do not have to be accounted for separately. Both approaches are compared numerically and validated in simulation. Our MPC method shows a faster convergence.

关键词： humanoid robotics walking pattern generator visual servoing model predictive control SLAM

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Dynamic walking and whole-body motion planning for humanoid robots: an integrated approach

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INTERNATIONAL JOURNAL OF robotics RESEARCH 2013年第9-10期32卷 1089-1103页

作者： Dalibard, Sebastien El Khoury, Antonio Lamiraux, Florent Nakhaei, Alireza Taix, Michel Laumond, Jean-Paul CNRS LAAS F-31077 Toulouse France Univ Toulouse LAAS Toulouse France Aldebaran Robot F-75014 Paris France

This paper presents a general method for planning collision-free whole-body walking motions for humanoid robots. First, we present a randomized algorithm for constrained motion planning, that is used to generate collision-free statically balanced paths solving manipulation tasks. Then, we show that dynamic walking makes humanoid robots small-space controllable. Such a property allows to easily transform collision-free statically balanced paths into collision-free dynamically balanced trajectories. It leads to a sound algorithm which has been applied and evaluated on several problems where whole-body planning and walk are needed, and the results have been validated on a real HRP-2 robot.

关键词： humanoid robotics whole-body motion planning dynamic walking

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Are we done with object recognition? The iCub robot's perspective

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robotics AND AUTONOMOUS SYSTEMS 2019年 112卷 260-281页

作者： Pasquale, Giulia Ciliberto, Carlo Odone, Francesca Rosasco, Lorenzo Natale, Lorenzo Ist Italiano Tecnol Humanoid Sensing & Percept Via Morego 30 Genoa Italy Univ Genoa Dipartimento Informat Bioingn Robot & Ingn Sistem Via Dodecaneso 35 Genoa Italy MIT Lab Computat & Stat Learning Bldg 46-515543 Vassar St Cambridge MA 02139 USA MIT Ctr Brains Minds & Machines 77 Massachusetts Ave Cambridge MA USA

We report on an extensive study of the benefits and limitations of current deep learning approaches to object recognition in robot vision scenarios, introducing a novel dataset used for our investigation. To avoid the biases in currently available datasets, we consider a natural human-robot interaction setting to design a data-acquisition protocol for visual object recognition on the iCub humanoid robot. Analyzing the performance of off-the-shelf models trained off-line on large-scale image retrieval datasets, we show the necessity for knowledge transfer. We evaluate different ways in which this last step can be done, and identify the major bottlenecks affecting robotic scenarios. By studying both object categorization and identification problems, we highlight key differences between object recognition in robotics applications and in image retrieval tasks, for which the considered deep learning approaches have been originally designed. In a nutshell, our results confirm the remarkable improvements yield by deep learning in this setting, while pointing to specific open challenges that need be addressed for seamless deployment in robotics. (C) 2018 Elsevier B.V. All rights reserved.

关键词： humanoid robotics Robot vision Visual object recognition Machine learning Deep learning Transfer learning Image dataset Dataset collection Representation invariance iCub

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The Yoyo-Man

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INTERNATIONAL JOURNAL OF robotics RESEARCH 2017年第13-14期36卷 1508-1520页

作者： Laumond, Jean-Paul Benallegue, Mehdi Carpentier, Justin Berthoz, Alain Univ Toulouse LAAS CNRS CNRS Toulouse France Natl Inst Adv Ind Sci & Technol Tsukuba Ibaraki Japan Coll France Paris France

The paper reports on two results issued from a multidisciplinary research action exploring the motor synergies of anthropomorphic walking. By combining the biomechanical, neurophysiology, and robotics perspectives, it is intended to better understand human locomotion with the ambition to better design bipedal robot architectures. The motivation of the research starts from the simple observation that humans may stumble when following a simple reflex-based locomotion on uneven terrains. The rationale combines two well established results in robotics and neuroscience, respectively: passive robot walkers, which are very efficient in terms of energy consumption, can be modeled by a simple rotating rimless wheel;humans and animals stabilize their head when moving. The seminal hypothesis is then to consider a wheel equipped with a stabilized mass on top of it as a plausible model of bipedal walking. The two results presented in the paper support the hypothesis. 1. From a motion capture data basis of twelve human walkers, we show that the motions of the feet are organized around a geometric center, which is the center of mass, and is surprisingly not at the hip. 2. After introducing a ground texture model that allows us to quantify the stability performance of walker control schemes, we show how compass-like passive walkers are better controlled when equipped with a stabilized 2-degree-of-freedom moving mass on top of them. The center of mass and head then play complementary roles that define what we call the Yoyo-Man. Beyond the two results presented in the paper, the Yoyo-Man model opens new perspectives to explore the computational foundations of anthropomorphic walking.

关键词： Human locomotion bipedal locomotion humanoid robotics synergies biomechanics passive walker

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A comparison of learning strategies for biologically constrained development of gaze control on an iCub robot

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AUTONOMOUS ROBOTS 2014年第1期37卷 97-110页

作者： Shaw, Patricia Law, James Lee, Mark Aberystwyth Univ Dept Comp Sci Aberystwyth Dyfed Wales

Gaze control requires the coordination of movements of both eyes and head to fixate on a target. We present a biologically constrained architecture for gaze control and show how the relationships between the coupled sensorimotor systems can be learnt autonomously from scratch, allowing for adaptation as the system grows or changes. Infant studies suggest developmental learning strategies, which can be applied to sensorimotor learning in humanoid robots. We examine two strategies (sequential and synchronous) for the learning of eye and head coupled mappings, and give results from implementations on an iCub robot. The results show that the developmental approach can give fast, cumulative, on-line learning of coupled sensorimotor systems.

关键词： Developmental robotics Gaze control Sensorimotor learning Eye-head coordination humanoid robotics

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From Saccades to Grasping: A Model of Coordinated Reaching Through Simulated Development on a humanoid Robot

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IEEE TRANSACTIONS ON AUTONOMOUS MENTAL DEVELOPMENT 2014年第2期6卷 93-109页

作者： Law, James Shaw, Patricia Lee, Mark Sheldon, Michael Aberystwyth Univ Dept Comp Sci Ceredigion SY23 3DB Wales

Infants demonstrate remarkable talents in learning to control their sensory and motor systems. In particular the ability to reach to objects using visual feedback requires overcoming several issues related to coordination, spatial transformations, redundancy, and complex learning spaces. This paper describes a model of longitudinal development that covers the full sequence from blind motor babbling to successful grasping of seen objects. This includes the learning of saccade control, gaze control, torso control, and visually-elicited reaching and grasping in 3-D space. This paper builds on and extends our prior investigations into the development of gaze control, eye-hand coordination, the use of constraints to shape learning, and a schema memory system for the learning of sensorimotor experience. New contributions include our application of the LWPR algorithm to learn how movements of the torso affect the robot's representation of space, and the first use of the schema framework to enable grasping and interaction with objects. The results from our integration of these various components into an implementation of longitudinal development on an iCub robot show their ability to generate infant-like development, from a start point with zero coordination up to skilled spatial reaching in less than three hours.

关键词： Behavior modeling constraints humanoid robotics infant development reaching staged learning

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Toward a user-guided manipulation framework for high-DOF robots with limited communication

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INTELLIGENT SERVICE robotics 2014年第3期7卷 121-131页

作者： Phillips-Grafflin, Calder Alunni, Nicholas Suay, Halit Bener Mainprice, Jim Lofaro, Daniel Berenson, Dmitry Chernova, Sonia Lindeman, Robert W. Oh, Paul Worcester Polytech Inst Worcester MA 01609 USA Drexel Univ Philadelphia PA 19104 USA

This paper presents our progress toward a user-guided manipulation framework for high degree-of-freedom robots operating in environments with limited communication. The system we propose consists of three components: (1) a user-guided perception interface that assists the user in providing task-level commands to the robot, (2) planning algorithms that autonomously generate robot motion while obeying relevant constraints, and (3) a trajectory execution and monitoring system which detects errors in execution. We report quantitative experiments performed on these three components and qualitative experiments of the entire pipeline with the PR2 robot turning a valve for the DARPA robotics challenge. We also describe how the framework was ported to the Hubo2+robot with minimal changes which demonstrates its applicability to different types of robots.

关键词： humanoid robotics Manipulation Motion planning Teleoperation Robot software architecture

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Parallel and hierarchical neural mechanisms for adaptive and predictive behavioral control

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NEURAL NETWORKS 2021年 144卷 507-521页

作者： Macpherson, Tom Matsumoto, Masayuki Gomi, Hiroaki Morimoto, Jun Uchibe, Eiji Hikida, Takatoshi Osaka Univ Inst Prot Res Lab Adv Brain Funct 3-2 Yamadaoka Suita Osaka 5650871 Japan Univ Tsukuba Fac Med Div Biomed Sci Tsukuba Ibaraki Japan Nippon Telegraph & Tel Co NTT Commun Sci Labs Atsugi Kanagawa Japan ATR Computat Neurosci Labs Dept Brain Robot Interface Kyoto Japan Kyoto Univ Grad Sch Informat Kyoto Japan

Our brain can be recognized as a network of largely hierarchically organized neural circuits that operate to control specific functions, but when acting in parallel, enable the performance of complex and simultaneous behaviors. Indeed, many of our daily actions require concurrent information processing in sensorimotor, associative, and limbic circuits that are dynamically and hierarchically modulated by sensory information and previous learning. This organization of information processing in biological organisms has served as a major inspiration for artificial intelligence and has helped to create in silico systems capable of matching or even outperforming humans in several specific tasks, including visual recognition and strategy-based games. However, the development of human-like robots that are able to move as quickly as humans and respond flexibly in various situations remains a major challenge and indicates an area where further use of parallel and hierarchical architectures may hold promise. In this article we review several important neural and behavioral mechanisms organizing hierarchical and predictive processing for the acquisition and realization of flexible behavioral control. Then, inspired by the organizational features of brain circuits, we introduce a multi-timescale parallel and hierarchical learning framework for the realization of versatile and agile movement in humanoid robots. (c) 2021 The Author(s). Published by Elsevier Ltd. This is an open access article under the CC BY-NC-ND license (http://***/licenses/by-nc-nd/4.0/).

关键词： Parallel processing Hierarchical processing Behavioral flexibility Movement control Artificial intelligence humanoid robotics

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