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Dynamic Whole-Body Motion Generation Under Rigid Contacts and Other Unilateral Constraints

IEEE TRANSACTIONS ON robotics 2013年第2期29卷 346-362页

作者： Saab, Layale Ramos, Oscar E. Keith, Francois Mansard, Nicolas Soueres, Philippe Fourquet, Jean-Yves Univ Toulouse CNRS Lab Anal & Architecture Syst F-31400 Toulouse France Lab Informat Robot & Microelect Montpellier F-34095 Montpellier France CNRS AIST Joint Robot Lab CRT UMI3218 Tsukuba Ibaraki Japan Univ Toulouse Lab Genie Prod Ecole Natl Ingn F-65016 Tarbes France

The most widely used technique for generating whole-body motions on a humanoid robot accounting for various tasks and constraints is inverse kinematics. Based on the task-function approach, this class of methods enables the coordination of robot movements to execute several tasks in parallel and account for the sensor feedback in real time, thanks to the low computation cost. To some extent, it also enables us to deal with some of the robot constraints (e. g., joint limits or visibility) and manage the quasi-static balance of the robot. In order to fully use the whole range of possible motions, this paper proposes extending the task-function approach to handle the full dynamics of the robot multibody along with any constraint written as equality or inequality of the state and control variables. The definition of multiple objectives is made possible by ordering them inside a strict hierarchy. Several models of contact with the environment can be implemented in the framework. We propose a reduced formulation of the multiple rigid planar contact that keeps a low computation cost. The efficiency of this approach is illustrated by presenting several multicontact dynamic motions in simulation and on the real HRP-2 robot.

关键词： Contact modeling dynamics force control humanoid robotics redundant robots

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Grounding humanoid visually guided walking: From action-independent to action-oriented knowledge

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INFORMATION SCIENCES 2016年 352卷 79-97页

作者： Chame, Hendry Ferreira Chevallereau, Christine CNRS Ecole Cent Nantes IRCCyN Nantes France

In the context of humanoid and service robotics, it is essential that the agent can be positioned with respect to objects of interest in the environment. By relying mostly on the cognitivist conception in artificial intelligence, the research on visually guided walking has tended to overlook the characteristics of the context in which behavior occurs. Consequently, considerable efforts have been directed to define action-independent explicit models of the solution, often resulting in high computational requirements. In this study, inspired by the embodied cognition research, our interest has focused on the analysis of the sensory-motor coupling. Notably, on the relation between embodiment, information, and action-oriented representation. Hence, by mimicking human walking, a behavior scheme is proposed and endowed the agent with the skill of approaching stimuli. A significant contribution to object discrimination was obtained by proposing an efficient visual attention mechanism, that exploits the redundancies and the statistical regularities induced in the sensory-motor coordination, thus the information flow is anticipated from the fusion of visual and proprioceptive features in a Bayesian network. The solution was implemented on the humanoid platform Nao, where the task was accomplished in an unstructured scenario. (C) 2016 Elsevier Inc. All rights reserved.

关键词： Cognitive robotics Embodied cognition humanoid robotics Ego-localization Top-down visual attention Robot vision

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Rapid calibration of a multi-sensorial humanoid's upper body: An automatic and self-contained approach

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INTERNATIONAL JOURNAL OF robotics RESEARCH 2015年第4-5期34卷 420-436页

作者： Birbach, Oliver Frese, Udo Baeuml, Berthold DLR Inst Robot & Mechatron D-82234 Wessling Germany Univ Bremen D-28359 Bremen Germany

This paper addresses the problem of calibrating a pair of cameras, a Microsoft Kinect sensor and an inertial measurement unit (IMU) mounted at the head of a humanoid robot with respect to its kinematic chain. As complex manipulation tasks require an accurate interplay of all involved sensors, the quality of calibration is crucial for the outcome of the intended tasks. Typical procedures for calibrating are often time-consuming, involve multiple people overseeing a series of subsequent calibration steps and require external tools. We therefore propose to auto-calibrate all sensors in a single, completely automatic and self-contained procedure, i.e. without a calibration plate. By automatically detecting a single point feature on each wrist while moving the robot's head, the stereo cameras', the Kinect's infrared camera's intrinsic and extrinsic and an IMU's extrinsic parameters are calibrated while considering the arm joint elasticities and joint angle offsets. All parameters are obtained by formulating the calibration problem as a single least-squares batch-optimization problem. The procedure is integrated on DLR's humanoid robot Agile Justin allowing to obtain an accurate calibration in around 5 minutes by simply pushing a button. The proposed approach is experimentally validated by means of standard metrics of the calibration errors.

关键词： Robotic vision calibration and identification humanoid robotics sensing and perception

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On the Time-Invariance Properties of Upper Limb Synergies

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IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING 2019年第7期27卷 1397-1406页

作者： Averta, Giuseppe Valenza, Gaetano Catrambone, Vincenzo Barontini, Federica Scilingo, Enzo Pasquale Bicchi, Antonio Bianchi, Matteo Univ Pisa Ctr Ric Enrico Piaggio I-56126 Pisa Italy Fdn Ist Italiano Tecnol I-16163 Genoa Italy Univ Pisa Dipartimento Ingn Informaz I-56122 Pisa Italy

In this paper, we present a novel approach to dynamically describe human upper limb trajectories, addressing the question on whether and to which extent synergistic multi-joint behavior is observed and preserved over time evolution and across subjects. To this goal, we performed experiments to collect human upper limb joint angle trajectories and organized them in a dataset of daily living tasks. We then characterized the upper limb poses at each time frame through a technique that we named repeated-principal component analysis (R-PCA). We found that, although there is no strong evidence on the predominance of one principal component (PC) over the others, the subspace identified by the first three PCs takes into account most of the motion variability. We evaluated the stability of these results over time, showing that during the reaching phase, there is a strong consistency of these findings across participants. In other words, our results suggest that there is a time-invariant low-dimensional approximation of upper limb kinematics, which can be used to define a suitable reduced dimensionality control space for upper limb robotic devices in motion phases.

关键词： Motor control upper-limb synergies repeated-principal component analysis (R-PCA) humanoid robotics daily-living activities

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Learning the visual-oculomotor transformation: Effects on saccade control and space representation

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robotics AND AUTONOMOUS SYSTEMS 2015年 71卷 13-22页

作者： Antonelli, Marco Duran, Angel J. Chinellato, Eris del Pobil, Angel P. Univ Jaume 1 Robot Intelligence Lab Valencia Spain Univ Leeds Sch Comp Leeds LS2 9JT W Yorkshire England Sungkyunkwan Univ Seoul South Korea

Active eye movements can be exploited to build a visuomotor representation of the surrounding environment. Maintaining and improving such representation requires to update the internal model involved in the generation of eye movements. From this perspective, action and perception are thus tightly coupled and interdependent. In this work, we encoded the internal model for oculomotor control with an adaptive filter inspired by the functionality of the cerebellum. Recurrent loops between a feed-back controller and the internal model allow our system to perform accurate binocular saccades and create an implicit representation of the nearby space. Simulation results show that this recurrent architecture outperforms classical feedback-error-learning in terms of both accuracy and sensitivity to system parameters. The proposed approach was validated implementing the framework on an anthropomorphic robotic head. (C) 2015 Elsevier B.V. All rights reserved.

关键词： Stereo vision Cerebellum humanoid robotics Gaussian process regression Sensorimotor transformation

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A dynamic object manipulation approach to dynamic biped locomotion

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robotics AND AUTONOMOUS SYSTEMS 2008年第7期56卷 570-582页

作者： Beigzadeh, Borhan Ahmadabadi, Majid Nili Meghdari, Ali Akbarimajd, Adel Sharif Univ Technol ME Dept CEDRA Tehran Iran Univ Tehran Control & Intelligent Proc Ctr Excellence Robot & AI Lab Tehran Iran

In this paper, we aim at an integrated approach to Dynamic Biped Walking (DBW) and Dynamic Object Manipulation (DOM) at an abstract level. To this end, we offer a unified and abstract concept with a dual interpretation as a DOM and as a DBW system. We validate the proposed approach by using a set of simulations on an illustrative case Study and show how it can be used in modeling as well as design of planning and control algorithms for DOM and DBW systems. In the case study, we describe the proposed approach and show its dual interpretation by identifying the relations between 2D dynamic object manipulation of a disc using two planar manipulators and 2D dynamic object locomotion of lower part of a biped robot. More specifically, having obtained the equations of DOM, we change the boundary conditions of the problem in such a way that both radius and mass of the disc tend to infinity. Simultaneously, both size and mass of the manipulators' base, i.e. the planet earth, tend to some values in the order of human body mass and dimension. Regarding these changes, we can transform DOM into DBW and vice versa. To test the proposed approach, a simple control strategy is introduced to handle impact between the manipulators (legs) and the object (the earth). In addition, a motion planning system is designed in Such a way that the manipulators (legs) catch and throw the manipulated object (the earth) in appropriate configurations. (c) 2007 Elsevier B.V. All rights reserved.

关键词： dynamic object manipulation dynamic biped locomotion duality humanoid robotics

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OPTIMIZING FOOT CENTERS OF PRESSURE THROUGH FORCE DISTRIBUTION IN A humanoid ROBOT

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INTERNATIONAL JOURNAL OF humanoid robotics 2013年第3期10卷 1350027.1-1350027.21页

作者： Wensing, Patrick M. Bin Hammam, Ghassan Dariush, Behzad Orin, David E. Ohio State Univ Dept Elect & Comp Engn Columbus OH 43210 USA Honda Res Inst USA Mountain View CA 94043 USA

The force distribution problem (FDP) in robotics requires the determination of multiple contact forces to match a desired net contact wrench. For the double support case encountered in humanoids, this problem is underspecified, and provides the opportunity to optimize desired foot centers of pressure (CoPs) and forces. In different contexts, we may seek CoPs and contact forces that optimize actuator effort or decrease the tendency for foot roll. In this work, we present two formulations of the FDP for humanoids in double support, and propose objective functions within a general framework to address the variety of competing requirements for the realization of balance. As a key feature, the framework is capable to optimize contact forces for motions on uneven terrain. Solutions for the formulations developed are obtained with a commercial nonlinear optimization package and through analytical approaches on a simplified problem. Results are shown for a highly dynamic whole-body humanoid reaching motion performed on even terrain and on a ramp. A convex formulation of the FDP provides real-time solutions with computation times of a few milliseconds. While the convex formulation does not include CoPs explicitly as optimization variables, a novel objective function is developed which penalizes foot CoP solutions that approach the foot boundaries.

关键词： humanoid robotics force distribution center of pressure optimization

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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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Continuous humanoid interaction: An integrated perspective - gaining adaptivity, redundancy, flexibility - in one

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robotics AND AUTONOMOUS SYSTEMS 2001年第2-3期37卷 161-183页

作者： Cheng, GD Nagakubo, A Kuniyoshi, Y Electrotech Lab Humanoid Interact Lab Tsukuba Ibaraki 3058568 Japan

In this paper, we take the view that human-like response can only emerge through a richly integrated humanoid system. By taking such a view, we have confined ourselves in the pursuit of developing a richly integrated humanoid system. We present a humanoid system - an upper body humanoid robot - with active real-time stereo vision, an auditory system for spatial hearing, and proprioceptive systems, with a high performance motor control system. The context in which we wish to establish our research is in the context of continuous humanoid interaction. Interaction with the environment, as well as interaction with people, all form part of this establishment. We present our approach to the problem of interacting with a continuum of multiple stimuli, while producing meaningful responses. We will show by using a relatively simple mechanism for integration, it is still possible to realise a vastly responsive system. Hence, providing a system that is adaptable through redundancy, and flexible for integration. Our presentation includes a new humanoid robot system currently being developed for complex continuous interaction. An example of our humanoid robot in continuous interaction is presented. The system is able to track a person by sight in an unmodified environment, perform real-time mimicking of the upper body motion of the person, track a sound source (spatial orientation), and physical handling of the system in a compliant manner is also allowed. Each of the sub-systems of our humanoid is also introduced, with experimental results of each presented. (C) 2001 Elsevier Science B.V. All rights reserved.

关键词： humanoid robotics human-robot interactions stereo vision stereo spatial hearing visual attention auditory attention

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Keyframe-based Learning from Demonstration Method and Evaluation

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INTERNATIONAL JOURNAL OF SOCIAL robotics 2012年第4期4卷 343-355页

作者： Akgun, Baris Cakmak, Maya Jiang, Karl Thomaz, Andrea L. Georgia Inst Technol Sch Interact Comp Atlanta GA 30332 USA

We present a framework for learning skills from novel types of demonstrations that have been shown to be desirable from a Human-Robot Interaction perspective. Our approach-Keyframe-based Learning from Demonstration (KLfD)-takes demonstrations that consist of keyframes;a sparse set of points in the state space that produces the intended skill when visited in sequence. The conventional type of trajectory demonstrations or a hybrid of the two are also handled by KLfD through a conversion to keyframes. Our method produces a skill model that consists of an ordered set of keyframe clusters, which we call Sequential Pose Distributions (SPD). The skill is reproduced by splining between clusters. We present results from two domains: mouse gestures in 2D and scooping, pouring and placing skills on a humanoid robot. KLfD has performance similar to existing LfD techniques when applied to conventional trajectory demonstrations. Additionally, we demonstrate that KLfD may be preferable when demonstration type is suited for the skill.

关键词： Learning from Demonstration Kinesthetic teaching Human-Robot Interaction humanoid robotics

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