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27th International Conference on Climbing and Walking Robots and Mobile machine Support Technologies (CLAWAR)

作者： Chavez, Francisco Javier Andrade Rajendran, Vidyasagar Mombaur, Katja Univ Waterloo Dept Syst Design Engn CERC Human Centred Robot & Machine Intelligence Waterloo ON Canada Karlsruhe Inst Technol KIT Inst Anthropomat & Robot IAR Optimizat & Biomech Human Centred Robot Karlsruhe Germany

ISBN: (纸本)9783031707216;9783031707223

Locomotion is fundamentally the result of exchanging forces with the environment to generate movement in a desired direction. For bipeds, the most common locomotion is walking. It requires to control the forces applied in the environment to maintain balance and propel the body in the desired direction while respecting friction constraints. The relationship between the center of mass acceleration and contact forces is unique in the single support phase. On the contrary, in the double support phase, it is a non-deterministic problem. It is not uncommon to use heuristics to solve this problem such as minimizing a certain effort criterion. Given how humans regularly solve this problem it is interesting to take inspiration from human walking. The modified Twin Polynomial Method (mTPM) has shown results superior to the state of the art in understanding how humans distribute contact forces in double support [1]. In this paper, we show how human data differs from a 'typical' robot walk and propose using mTPM to generate a more human-like distribution for robots.

关键词： Anthropomorphic robots

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Whole-body Stabilization of the REEM-C humanoid on Actuated Balance Boards in Sagittal and Frontal Directions 22

Whole-body Stabilization of the REEM-C Humanoid on Actuated ...

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IEEE-RAS 22nd International Conference on humanoid Robots (humanoids)

作者： Rajendran, Vidyasagar Chavez, Francisco Javier Andrade Mombaur, Katja Univ Waterloo Dept Syst Design Engn CERC Human Centred Robot & Machine Intelligence Waterloo ON Canada Karlsruhe Inst Technol KIT IAR Optimizat & Biomech Human Centred Robot Karlsruhe Germany

ISBN: (纸本)9798350303278

This paper explores stabilizer design for humanoid balancing on actuated balance boards. We qualitatively study how humans balance on balance boards to motivate our humanoid controller design. The developed approach combines various strategies from the literature including ankle admittance, CoM admittance, base pitch admittance, foot force difference admittance, contact wrench distribution and angular momentum regulation in a new integration to achieve stabilization on an actuated balance board. We explore the frontal and sagittal plane balance board problems along with pushes at the upper body and show that our approach works in simulation and on real hardware. This brings us one step closer to balancing on unactuated balance boards, other dynamic environments such as moving platforms and transportation devices, skills that will make humanoids more versatile.

关键词： Stabilization

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Development and Validation of a Modular Sensor-Based System for Gait Analysis and Control in Lower-Limb Exoskeletons

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SENSORS 2025年第8期25卷 2379-2379页

作者： Marinou, Giorgos Kourouma, Ibrahima Mombaur, Katja Heidelberg Univ Inst Comp Engn ZITI D-69120 Heidelberg Germany Karlsruhe Inst Technol Inst Anthropomat & Robot Optimizat & Biomech Human Centred Robot D-76131 Karlsruhe Germany Univ Waterloo Dept Syst Design Engn CERC Human Centred Robot & Machine Intelligence Waterloo ON N2L 3G1 Canada

With rapid advancements in lower-limb exoskeleton hardware, two key challenges persist: the accurate assessment of user biomechanics and the reliable control of device behavior in real-world settings. This study presents a modular, sensor-based system designed to enhance both biomechanical evaluation and control of lower-limb exoskeletons, leveraging advanced sensor technologies and fuzzy logic. The system addresses the limitations of traditional lab-bound, high-cost methods by integrating inertial measurement units, force-sensitive resistors, and load cells into instrumented crutches and 3D-printed insoles. These components work independently or in unison to capture critical biomechanical metrics, including the anteroposterior center of pressure and crutch ground reaction forces. Data are processed in real time by a central unit using fuzzy logic algorithms to estimate gait phases and support exoskeleton control. Validation experiments with three participants, benchmarked against motion capture and force plate systems, demonstrate the system's ability to reliably detect gait phases and accurately measure biomechanical parameters. By offering an open-source, cost-effective design, this work contributes to the advancement of wearable robotics and promotes broader innovation and accessibility in exoskeleton research.

关键词： wearable sensors wearable robotics exoskeletons gait IMU 3D-printed insole force sensors pressure sensors crutches human-robot interaction

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A Bio-inspired Solution for Double Support Force Distribution in humanoid Robot Locomotion 22

A Bio-inspired Solution for Double Support Force Distributio...

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IEEE-RAS 22nd International Conference on humanoid Robots (humanoids)

作者： Chavez, Francisco Javier Andrade Rajendran, Vidyasagar Mombaur, Katja Univ Waterloo CERC Human Centred Robot & Machine Intelligence Dept Syst Design Engn Waterloo ON Canada Karlsruhe Inst Technol KIT Inst Anthropomat & Robot IAR Optimizat & Biomechan Human Centred Robot Karlsruhe Germany

ISBN: (纸本)9798350303278

In locomotion, the likelihood of slipping or maintaining contact is determined by the forces applied in the environment. Therefore, it is crucial to find methods of keeping forces within friction constraints. In single support, the relationship between center of mass acceleration and forces is unique. However, in double support, it becomes a non-deterministic problem. It is often assumed that forces are distributed to minimize a certain effort criterion. An interesting alternative is to distribute the forces in a manner similar to how a human would, which could result in a more human-like gait for humanoid robots. With this in mind, we introduce the modified Twin Polynomial Method (mTPM) as a technique to accurately distribute double support forces in a human-like way. The relevant relationships used in this method are presented, and we compare its performance against the current state of the art in human gait analysis. The comparison is conducted across three different types of contacts with the environment: barefoot, socks, and shoes. We show how human data differs from a 'typical' robot walk and use the proposed method to generate a more human-like distribution for robots.

关键词： Anthropomorphic robots

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An Audio-Video Sensor Fusion Framework To Augment humanoid Capabilities For Identifying And Interacting With human Conversational Partners 22

An Audio-Video Sensor Fusion Framework To Augment Humanoid C...

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IEEE-RAS 22nd International Conference on humanoid Robots (humanoids)

作者： Barot, Pranav MacDonald, Ewen N. Mombaur, Katja Univ Waterloo Dept Syst Design Engn Waterloo ON Canada Karlsruhe Inst Technol KIT Inst Anthropomat & Robot IAR Optimizat & Biomechan Human Centred Robot Karlsruhe Germany Univ Waterloo Dept Syst Design Engn CERC Human Centred Robot & Machine Intelligence Waterloo ON Canada

ISBN: (纸本)9798350303278

human robot interaction often requires many subsystems to work together in order to facilitate more natural and intelligent interactions with multiple humans. For this work, the relevant systems include audio and visual direction of arrival estimation that are used in an encompassing sensor fusion framework. The presented sub-systems are used concurrently online to allow for humanoid robots to identify active speakers in a scene, track human subjects, and identify when other subjects may require attention. We present evaluations of performance, while also implementing relevant humanlike behaviours on the REEM-C humanoid Robot. A conducted user study delivers valuable feedback on these systems, which provide a strong foundation for improved humanoid intelligence and more innovative human-robot interaction.

关键词： Anthropomorphic robots

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A Bio-inspired Solution for Double Support Force Distribution in humanoid Robot Locomotion

A Bio-inspired Solution for Double Support Force Distributio...

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IEEE-RAS International Conference on humanoid Robots

作者： Francisco Javier Andrade Chavez Vidyasagar Rajendran Katja Mombaur CERC Human-Centred Robotics and Machine Intelligence of Department of Systems Design Engineering University of Waterloo Canada Optimization and Biomechanics for Human-Centred Robotics Karlsruhe Institute of Technology (KIT) Institute of Anthropomatics and Robotics (IAR) Karlsruhe Germany

In locomotion, the likelihood of slipping or maintaining contact is determined by the forces applied in the environment. Therefore, it is crucial to find methods of keeping forces within friction constraints. In single support, the relationship between center of mass acceleration and forces is unique. However, in double support, it becomes a non-deterministic problem. It is often assumed that forces are distributed to minimize a certain effort criterion. An interesting alternative is to distribute the forces in a manner similar to how a human would, which could result in a more human-like gait for humanoid robots. With this in mind, we introduce the modified Twin Polynomial Method (mTPM) as a technique to accurately distribute double support forces in a human-like way. The relevant relationships used in this method are presented, and we compare its performance against the current state of the art in human gait analysis. The comparison is conducted across three different types of contacts with the environment: barefoot, socks, and shoes. We show how human data differs from a ‘typical’ robot walk and use the proposed method to generate a more human-like distribution for robots.

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Whole-body Stabilization of the REEM-C humanoid on Actuated Balance Boards in Sagittal and Frontal Directions

Whole-body Stabilization of the REEM-C Humanoid on Actuated ...

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IEEE-RAS International Conference on humanoid Robots

作者： Vidyasagar Rajendran Francisco Javier Andrade Chavez Katja Mombaur Department of Systems Design Engineering CERC Human-Centred Robotics and Machine Intelligence University Waterloo Canada Optimization and Biomechanics for Human-Centred Robotics Institute of Anthropomatics and Robotics (IAR) Karlsruhe Institute of Technology (KIT) Karlsruhe Canada

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Estimating speaker direction on a humanoid robot with binaural acoustic signals

arXiv

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arXiv 2023年

作者： Barot, Pranav Mombaur, Katja MacDonald, Ewen N. Department of Systems Design Engineering University of Waterloo WaterlooON Canada Optimization and Biomechanics for Human-Centred Robotics Karlsruhe Germany and CERC Human-Centred Robotics and Machine Intelligence Department of Systems Design Engineering University of Waterloo Waterloo Canada

To achieve human-like behaviour during speech interactions, it is necessary for a humanoid robot to estimate the location of a human talker. Here, we present a method to optimize the parameters used for the direction of arrival (DOA) estimation, while also considering real-time applications for human-robot interaction scenarios. This method is applied to binaural sound source localization framework on a humanoid robotic head. Real data is collected and annotated for this work. Optimizations are performed via a brute force method and a Bayesian model based method, results are validated and discussed, and effects on latency for real-time use are also explored. © 2023, CC BY.

关键词： Anthropomorphic robots

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Multibody dynamics and optimal control for optimizing spinal exoskeleton design and support

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MULTIBODY SYSTEM DYNAMICS 2023年第3-4期57卷 389-411页

作者： Harant, Monika Naf, Matthias B. Mombaur, Katja Fraunhofer Inst Ind Math Math Digital Factory Fraunhofer Pl 1 D-67663 Kaiserslautern Germany Vrije Univ Brussel Dept Mech Engn Pleinlaan 2 B-1050 Brussels Belgium Univ Waterloo CERC Human Centred Robot & Machine Intelligence 200 Univ Ave West Waterloo ON N2L 3G1 Canada

In the industrial work environment, spinal exoskeletons can assist workers with heavy lifting tasks by reducing the needed muscle activity. However, the requirements for the design and control of such an exoskeleton to optimally support users with different body builds and movement styles are still open research questions. Thus, extensive testing on the human body is needed, requiring a lot of different sophisticated prototypes that subjects can wear for several hours. To facilitate this development process, we use multibody dynamics combined with optimal control to optimize the support profile of an existing prototype and evaluate a new design concept (DC) that includes motors at the hip joint. A dynamic model of the prototype was developed, including its passive elements with torque generation that accounts for potential misalignment. The human-robot interaction was simulated and optimized in an all-at-once approach. The parameters that describe the characteristics of the passive elements (including beam radius, spring pretension, length of the lever arm, radius of profile) and, in the case of DC, the torque profiles of the motors were optimized. Limits on interaction forces ensured that the exoskeleton remains comfortable to wear. Simulations without the exoskeleton allowed comparing the user's actuation concerning joint moment and muscle activation. Our results agree well with experimental data using the prototype, making it a useful tool to optimize exoskeleton design and support and evaluate the effect of different actuation systems, mass distributions, and comfort requirements.

关键词： Multibody dynamics Optimal control Parameter optimization Biomechanics Exoskeletons

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An Audio-Video Sensor Fusion Framework To Augment humanoid Capabilities For Identifying And Interacting With human Conversational Partners

An Audio-Video Sensor Fusion Framework To Augment Humanoid C...

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IEEE-RAS International Conference on humanoid Robots

作者： Pranav Barot Ewen N. MacDonald Katja Mombaur Department of Systems Design Engineering University of Waterloo Canada Department of Systems Design Engineering University of Waterloo Optimization and Biomechanics for Human-Centred Robotics Karlsruhe Germany and CERC Human-Centred Robotics and Machine Intelligence Karlsruhe Institute of Technology (KIT) Institute of Anthropomatics and Robotics (IAR) Waterloo Canada

human robot interaction often requires many sub-systems to work together in order to facilitate more natural and intelligent interactions with multiple humans. For this work, the relevant systems include audio and visual direction of arrival estimation that are used in an encompassing sensor fusion framework. The presented sub-systems are used concurrently online to allow for humanoid robots to identify active speakers in a scene, track human subjects, and identify when other subjects may require attention. We present evaluations of performance, while also implementing relevant humanlike behaviours on the REEM-C humanoid Robot. A conducted user study delivers valuable feedback on these systems, which provide a strong foundation for improved humanoid intelligence and more innovative human-robot interaction.

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