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23rd IEEE-RAS International Conference on Humanoid Robots, Humanoids 2024

作者： Nertinger, Simone Herzog, Olivia Mühlbauer, Anna Naceri, Abdeldjallil Haddadin, Sami Technical University of Munich Munich Institute of Robotics and Machine Intelligence Germany Technical University of Munich School of Engineering and Design Germany

ISBN: (纸本)9798350373578

In human-human interaction, posture serves as a critical non-verbal cue that subconsciously shapes first impressions and perceptions. Given the preference for anthropomorphism of robots acting in socially intensive situations such as caregiving, the influence of posture is expected to increase in interactions with humanoid robots. This study aims to identify the most preferred default position for the assistive humanoid robot GARMI, ensuring users' perceived safety in human-robot interaction (HRI). In a preliminary study, 30 participants evaluated ten different arm postures of the robot GARMI regarding their perceived discomfort. From these evaluations and direct rankings, three arm positions were selected for further analysis alongside the current default position in the virtual reality (VR) study. In this subsequent study, 50 participants assessed their perception of safety using both objective measures of comfort distance, grounded in proxemic theory, and two subjective measures, i.e., Godspeed questionnaire and Robotic Social Attribute Scale (RoSaS). The results indicate a significant impact of the robot's arm postures on users' perceived safety. A polite, butler-like posture is recommended as the default position, aligning with the role users typically attribute to the robot GARMI. © 2024 IEEE.

关键词： Anthropomorphic robots

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Development and Evaluation of a Cost-effective IMU system for Gait Analysis: Comparison with Vicon and VideoPose3D Algorithms

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Current Directions in Biomedical Engineering 2023年第1期9卷 254-257页

作者： Wilhelm, Nikolas Haddadin, Sami Micheler, Carina M. Lang, Jan J. Hinterwimmer, Florian Schaack, Victor Smits, Ricardo Burgkart, Rainer Department of Orthopedics and Sports Orthopedics Klinikum Rechts der Isar School of Medicine and Munich Institute of Robotics and Machine Intelligence Department of Electrical and Computer Engineering Technical University of Munich Munich Germany Munich Institute of Robotics and Machine Intelligence Department of Electrical and Computer Engineering Technical University of Munich Munich Germany Department of Orthopedics and Sports Orthopedics Klinikum Rechts der Isar School of Medicine Munich Germany

This study aimed to develop and evaluate a costeffective Inertial Measurement Unit (IMU) system for gait analysis, comparing its performance with the Vicon system and the VideoPose3D algorithm. The system comprises five calibrated sensors and a mobile app to measure lower body orientation during gait and stair climbing. Eight healthy participants were involved in the experiment, each performing ten repetitions to analyze hip and knee flexion angles. The IMU system demonstrated significantly lower mean square error than deep learning-based approaches and comparable results to the Vicon system, indicating its potential for clinical and research applications. © 2023 the author(s), published by Walter de Gruyter Berlin/Boston.

关键词： Gait analysis

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Motion planning for robotics:A review for sampling-based planners

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Biomimetic intelligence & robotics 2025年第1期5卷 15-34页

作者： Liding Zhang Kuanqi Cai Zewei Sun Zhenshan Bing Chaoqun Wang Luis Figueredo Sami Haddadin Alois Knoll School of Computation Information and Technology(CIT)Technical University of MunichMunich 85748Germany Munich Institute of Robotics and Machine Intelligence(MIRMI) Technical University of MunichMunich 80992Germany School of Control Science and Engineering Shandong UniversityJinan 250061China School of Computer Science University of NottinghamNottingham 315199United Kingdom

Recent advancements in robotics have transformed industries such as manufacturing,logistics,surgery,and planetary exploration.A key challenge is developing efficient motion planning algorithms that allow robots to navigate complex environments while avoiding collisions and optimizing metrics like path length,sweep area,execution time,and energy *** the available algorithms,sampling-based methods have gained the most traction in both research and industry due to their ability to handle complex environments,explore free space,and offer probabilistic completeness along with other formal *** their widespread application,significant challenges still *** advance future planning algorithms,it is essential to review the current state-of-the-art solutions and their *** this context,this work aims to shed light on these challenges and assess the development and applicability of sampling-based ***,we aim to provide an in-depth analysis of the design and evaluation of ten of the most popular planners across various *** findings highlight the strides made in sampling-based methods while underscoring persistent *** work offers an overview of the important ongoing research in robotic motion planning.

关键词： robotics Motion planning Sampling-based algorithms

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DEEPSPF: SPHERICAL SO(3)-EQUIVARIANT PATCHES FOR SCAN-TO-CAD ESTIMATION 12

DEEPSPF: SPHERICAL SO(3)-EQUIVARIANT PATCHES FOR SCAN-TO-CAD...

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12th International Conference on Learning Representations, ICLR 2024

作者： Salihu, Driton Misik, Adam Wu, Yuankai Patsch, Constantin Seguel, Fabian Steinbach, Eckehard Munich Institute of Robotics and Machine Intelligence Department of Computer Engineering Technical University of Munich School of Computation Information and Technology Germany Siemens Technology Germany

Recently, SO(3)-equivariant methods have been explored for 3D reconstruction via Scan-to-CAD. Despite significant advancements attributed to the unique characteristics of 3D data, existing SO(3)-equivariant approaches often fall short in seamlessly integrating local and global contextual information in a widely generalizable manner. Our contributions in this paper are threefold. First, we introduce Spherical Patch Fields, a representation technique designed for patch-wise, SO(3)-equivariant 3D point clouds, anchored theoretically on the principles of Spherical Gaussians. Second, we present the Patch Gaussian Layer, designed for the adaptive extraction of local and global contextual information from resizable point cloud patches. Culminating our contributions, we present Learnable Spherical Patch Fields (DeepSPF) - a versatile and easily integrable backbone suitable for instance-based point networks. Through rigorous evaluations, we demonstrate significant enhancements in Scan-to-CAD performance for point cloud registration, retrieval, and completion: a significant reduction in the rotation error of existing registration methods, an improvement of up to 17% in the Top-1 error for retrieval tasks, and a notable reduction of up to 30% in the Chamfer Distance for completion models, all attributable to the incorporation of DeepSPF. © 2024 12th International Conference on Learning Representations, ICLR 2024. All rights reserved.

关键词： Computer aided design

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The influence of an interactive user training on perceived safety in HRI 56

The influence of an interactive user training on perceived s...

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56th International Symposium on robotics, ISR Europe 2023

作者： Exeler, Sharon Nertinger, Simone Herzog, Olivia Naceri, Abdeldjallil Haddadin, Sami Munich Institute of Robotics and Machine Intelligence Technical University of Munich Germany School of Engineering and Design Technical University of Munich Germany

ISBN: (纸本)9783800761418

As robots become more prevalent in personal use, human-robot interaction (HRI) must also take lay users into account. To ensure acceptance by new user groups, HRI must be perceived as safe. Since experience is a crucial factor in the perception of safety, we suggest an interactive user training to be a promising method to facilitate HRI for laypersons. In this paper, we analyze the level of perceived safety of 16 participants before and after a 30-minute user training compared to 14 participants of a control group without getting any robot-specific training. Further, the applicability of eye gaze parameters, i.e., fixation count and fixation duration, is evaluated as an objective metric to measure perceived safety. Whereas no significant effect of training can be found, habituation shows to have an impact on perceived safety in HRI. Even though the variables fixation count and fixation duration cannot be used to measure one’s perceived safety, the results lead to a better understanding of the shortcomings of using gaze parameters in the analysis of perceived safety. © VDE VERLAG GMBH Berlin Offenbach.

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Informed Circular Fields for Global Reactive Obstacle Avoidance of Robotic Manipulators

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IFAC-PapersOnLine 2023年第2期56卷 1017-1022页

作者： Marvin Becker Philipp Caspers Tom Hattendorf Torsten Lilge Sami Haddadin Matthias A. Müller Institut of Automatic Control Leibniz University Hannover Germany Munich School of Robotics and Machine Intelligence and Chair of Robotics and System Intelligence Technical University Munich Germany

In this paper a global reactive motion planning framework for robotic manipulators in complex dynamic environments is presented. In particular, the circular field predictions (CFP) planner from Becker et al. (2021) is extended to ensure obstacle avoidance of the whole structure of a robotic manipulator. Towards this end, a motion planning framework is developed that leverages global information about promising avoidance directions from arbitrary configuration space motion planners, resulting in improved global trajectories while reactively avoiding dynamic obstacles and decreasing the required computational power. The resulting motion planning framework is tested in multiple simulations with complex and dynamic obstacles and demonstrates great potential compared to existing motion planning approaches.

关键词： Autonomous robotic systems Robots manipulators Guidance navigation and control Motion Planning Real-Time Collision Avoidance

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Mobile Preassembly systems with Cooperative Dual-Arm Manipulation - A Concept for Industrial Applications in the Near Future 56

Mobile Preassembly Systems with Cooperative Dual-Arm Manipul...

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56th International Symposium on robotics, ISR Europe 2023

作者： Wittmann, Jonas Laile, Mathias Rainer, Johannes Fottner, Johannes Rixen, Daniel TUM School of Engineering and Design Munich Institute of Robotics and Machine Intelligence Technical University of Munich Germany TUM School of Engineering and Design Technical University of Munich Germany

ISBN: (纸本)9783800761418

In current manufacturing plants, autonomous guided vehicles (AGVs) are used for the transport of material. Our goal is to expand the use of AGVs, enabling them to perform complex handling and preassembly tasks. For a more efficient production, these tasks should be performed during transport. We propose a concept for a mobile dual-arm robot that we develop in a two-year project. Four modules are at the core of our solution: the Task Planner controls the high-level process, the Dual-Arm Planner enables coordinated and cooperative dual-arm manipulation, the Vision module detects objects and the Navigator controls the mobile base. Preliminary experiments demonstrate the navigation and manipulation capabilities of our robot. © VDE VERLAG GMBH Berlin Offenbach.

关键词： cooperating robots dual arm manipulation mobile manipulation

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Diffusion-based learning of contact plans for agile locomotion 23

Diffusion-based learning of contact plans for agile locomoti...

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23rd IEEE-RAS International Conference on Humanoid Robots, Humanoids 2024

作者： Dhédin, Victor Ravi, Adithya Kumar Chinnakkonda Jordana, Armand Zhu, Huaijiang Meduri, Avadesh Righetti, Ludovic Schölkopf, Bernhard Khadiv, Majid Munich Institute of Robotics and Machine Intelligence Technical University of Munich Germany New York University Tandon School of Engineering United States Max-Planck Institute for Intelligent Systems Tübingen Germany

ISBN: (纸本)9798350373578

Legged robots have become capable of performing highly dynamic maneuvers in the past few years. However, agile locomotion in highly constrained environments such as stepping stones is still a challenge. In this paper, we propose a combination of model-based control, search, and learning to design efficient control policies for agile locomotion on stepping stones. In our framework, we use nonlinear model predictive control (NMPC) to generate whole-body motions for a given contact plan. To efficiently search for an optimal contact plan, we propose to use Monte Carlo tree search (MCTS). While the combination of MCTS and NMPC can quickly find a feasible plan for a given environment (a few seconds), it is not yet suitable to be used as a reactive policy. Hence, we generate a dataset for optimal goal-conditioned policy for a given scene and learn it through supervised learning. In particular, we leverage the power of diffusion models in handling multi-modality in the dataset. We test our proposed framework on a scenario where our quadruped robot Solo12 successfully jumps to different goals in a highly constrained environment (video). © 2024 IEEE.

关键词： Multipurpose robots

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Development and Evaluation of a Cost-effective IMU system for Gait Analysis: Comparison with Vicon and VideoPose3D Algorithms

Development and Evaluation of a Cost-effective IMU System fo...

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关键词： Gait analysis

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ULT-model: Towards a one-legged unified locomotion template model for forward hopping with an upright trunk

arXiv

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arXiv 2024年

作者： Ossadnik, Dennis Jensen, Elisabeth Haddadin, Sami The Munich School of Robotics and Machine Intelligence Technical University of Munich Munich80797 Germany

While many advancements have been made in the development of template models for describing upright-trunk locomotion, the majority of the effort has been focused on the stance phase. In this paper, we develop a new compact dynamic model as a first step toward a fully unified locomotion template model (ULT-model) of an upright-trunk forward hopping system, which will also require a unified control law in the next step. We demonstrate that all locomotion subfunctions are enabled by adding just a point foot mass and a parallel leg actuator to the well-known trunk SLIP model and that a stable limit cycle can be achieved. This brings us closer toward the ultimate goal of enabling closed-loop dynamics for anchor matching and thus achieving simple, efficient, robust and stable upright-trunk gait control, as observed in biological systems. © 2024, CC BY.

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