检索结果-内蒙古大学图书馆

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.

关键词：

来源：评论

学校读者我要写书评

暂无评论

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 ...

引用

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

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：

来源：评论

学校读者我要写书评

暂无评论

Estimating speaker direction on a humanoid robot with binaural acoustic signals

arXiv

引用

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

来源：评论

学校读者我要写书评

暂无评论

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...

引用

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.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Performance indicators for stability of slackline balancing

Performance indicators for stability of slackline balancing

引用

IEEE-RAS International Conference on Humanoid Robots

作者： Kevin Stein Katja Mombaur Optimization Robotics and Biomechanics (ORB) Institute of Computer Engineering (ZITI) Heidelberg University Heidelberg Germany

ISBN: (数字)9781538676301

ISBN: (纸本)9781538676318

In this study we analyze slackline balancing, a task where the subject has to maintain balance on a narrow elastic ribbon that is mounted between two anchor points. We investigate a list of potential performance indicators for stability and their relationship to successful and unsuccessful slackline balancing. We captured the motions of 11 subjects of three different skill levels (beginners, sportive beginners and experts) and recorded a total of 205 standing and 180 walking motions on the slackline. We analyzed all trials fitting subject specific, dynamic rigid body models to the measured kinematic motions. The results show that experts are able to precisely control their angular momentum. They mainly balance in the transverse plane and reduce motion in the sagittal plane and around the vertical axis. We also found their walking style being adapted to these criteria. Further, experts are able to move their contact foot in the transverse plane while keeping their center of mass steady. They adjust their ankle and knee compliance in the stance leg. Sufficient center of mass acceleration control in the vertical direction was found to be a necessary skill to walk on a slackline. Additionally, we found consistent hand coordination patterns in all experts and already in sportive beginners.

关键词： Legged locomotion Task analysis Acceleration Kinetic energy Humanoid robots Stability criteria

来源：评论

学校读者我要写书评

暂无评论

Modelfactory: A matlab/octave based toolbox to create human body models

arXiv

引用

arXiv 2018年

作者： Sreenivasa, Manish Harant, Monika University of Wollongong Australia Optimization Robotics and Biomechanics Heidelberg University Germany

Model-based analysis of movements can help better understand human motor control. Here, the models represent the human body as an articulated multi-body system that reects the characteristics of the human being studied. We present an open-source toolbox that allows for the creation of human models with easy-to-setup, customizable configurations. The toolbox scripts are written in Matlab/Octave and provide a command-based interface as well as a graphical interface to construct, visualize and export models. Built-in software modules provide functionalities such as automatic scaling of models based on subject height and weight, custom scaling of segment lengths, mass and inertia, addition of body landmarks, and addition of motion capture markers. Users can set up custom definitions of joints, segments and other body properties using the many included examples as templates. In addition to the human, any number of objects (e.g. exoskeletons, orthoses, prostheses, boxes) can be added to the modeling environment. The ModelFactory toolbox is published as open-source software under the permissive zLib license. The toolbox fulfills an important function by making it easier to create human models, and should be of interest to human movement researchers. Copyright © 2018, The Authors. All rights reserved.

关键词： Exoskeleton (robotics)

来源：评论

学校读者我要写书评

暂无评论

optimization-based analysis of a cartwheel

Optimization-based analysis of a cartwheel

引用

IEEE International Conference on Biomedical robotics and Biomechatronics

作者： Kevin Stein Katja Mombaur Optimization Robotics and Biomechanics (ORB) Institute of Computer Engineering (ZITI) Heidelberg University

ISBN: (纸本)9781538681848

The estimation of acting joint torques and ground reaction forces is of particular interest for the analysis and training of athletic human motions. Modern IMU-based motion capture systems can record the kinematics of motions without the constraint of a fixed capture volume but with a lower accuracy when compared to marker-based systems, however they can give no information about the underlying dynamics. We propose a general approach that allows us to analyze such motion recordings for which external ground reaction force measurements are not possible. To achieve this we use dynamically-consistent optimization to generate a physically valid least-squares fit of a dynamic model of the subject to the recorded motion. We demonstrate the method by fitting and analyzing a cartwheel motion. The resulting joint torques allow us to understand how the different joints are actuated throughout the motion and reconstructed contact forces give insight about the interaction with the environment. Calculation of the forces and torques are of great value during training of athletic motions both to improve technique and to prevent injury. Additionally we can estimate the deviation between the measurement and the physically valid fit.

关键词： Torque CARTWHEEL CONTACT FORCE ground reaction force motion capture Force Athletics Joints Joints kinematics

来源：评论

学校读者我要写书评

暂无评论

Optimizing wearable assistive devices with neuromuscular models and optimal control

arXiv

引用

arXiv 2018年

作者： Sreenivasa, Manish Millard, Matthew Manns, Paul Mombaur, Katja Optimization in Robotics & Biomechanics group Interdisciplinary Center for Scientific Computing Heidelberg University Berlinerstr. 45 Heidelberg69120 Germany

The coupling of human movement dynamics with the function and design of wearable assistive devices is vital to better understand the interaction between the two. Advanced neuromuscular models and optimal control formulations provide the possibility to study and improve this interaction. In addition, optimal control can also be used to generate predictive simulations that generate novel movements for the human model under varying optimization criterion. Copyright © 2018, The Authors. All rights reserved.

关键词： Wearable technology

来源：评论

学校读者我要写书评

暂无评论

Influence of compliance modulation on human locomotion

Influence of compliance modulation on human locomotion

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Yue Hu Katja Mombaur Optimization in Robotics and Biomechanics (ORB) Heidelberg University Heidelberg Germany

Compliance is an important feature of human locomotion, where many studies have focused on the identification of stiffness parameters in order to build new machines, and stiffness is often assumed to be constant. However, it has been shown that during human walking, stiffness profiles are not constant in time and have high modulations in particular when changing walking phases. In order to understand how the constant stiffness assumption influences the walking gait and how much modulation is needed in walking mechanisms to reproduce natural gaits, in this work we focus on the analysis of joint and bi-articular stiffness profiles modulation and the influence of these modulations on the walking motions in different walking environments, i.e. level ground, slope and stairs. The analysis is carried out on periodic steps from motion capture data. mapped on a 14 segments human model with spring damper systems.

关键词： Legged locomotion Modulation Foot Springs Hip Knee Mathematical model

来源：评论

学校读者我要写书评

暂无评论

Optimal Push Recovery for Periodic Walking Motions

引用

IFAC-PapersOnLine 2016年第14期49卷 93-98页

作者： Schemschat, R. Malin Clever, Debora Felis, Martin L. Mombaur, Katja Optimization in Robotics and Biomechanics Interdisciplinary Center for Scientific Computing Heidelberg University Germany

We study how humans performing periodic walking motions react to strong perturbations that are applied in form of pushes from behind. We propose a computational method that allows to generate optimal recovery motions based on a dynamic multi-body model of the human walking process. The assumption is that humans in such a situation would aim to pursue the walking motions while at the same time limiting the effort for the motion. For a given position and velocity in the middle of a periodic walking motion and a given pushing force profile, magnitude and contact point we determine the motion of the human model that minimizes a combined criterion joint torques and a deviation from periodicity. The recovery horizon considered in the multiphase optimal control problem is one step. The optimal control problem is solved using a direct boundary value problem approach based on multiple shooting. We present resulting optimal recovery motions for pushing forces between 150 N and 600 N which all look realistic. The proposed method has potential applications in the computation of push recovery motions for humanoid robots or for elderly humans with physical assistive devices, in each case applied to the respective model. © 2016

关键词： Recovery Anthropomorphic robots Boundary value problems Computational methods Optimal control systems Tugboats Human motions Multi body system dynamics Optimal controls Push recoveries Walking motion

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：