Pub Date : 2017-12-22DOI: 10.1109/HUMANOIDS.2017.8246877
Yuki Matsutani, K. Tahara, H. Kino, Hiroaki Ochi
This paper proposes a new tendon-driven robot with variable joint stiffness mechanisms. The tendon-driven robot is able to vary the stiffness of joints by sliding variable stiffness mechanisms over the link by wire tensions. As a reason for that structure and moment arms of the tendon-driven robot are changed depending on the position of the variable mechanism. Thus in this paper, the tendon-driven robot with variable stiffness mechanisms is designed, and the stiffness of the tendon-driven robot is evaluated by using a stiffness ellipsoid.
{"title":"Stiffness evaluation of a tendon-driven robot with variable joint stiffness mechanisms","authors":"Yuki Matsutani, K. Tahara, H. Kino, Hiroaki Ochi","doi":"10.1109/HUMANOIDS.2017.8246877","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2017.8246877","url":null,"abstract":"This paper proposes a new tendon-driven robot with variable joint stiffness mechanisms. The tendon-driven robot is able to vary the stiffness of joints by sliding variable stiffness mechanisms over the link by wire tensions. As a reason for that structure and moment arms of the tendon-driven robot are changed depending on the position of the variable mechanism. Thus in this paper, the tendon-driven robot with variable stiffness mechanisms is designed, and the stiffness of the tendon-driven robot is evaluated by using a stiffness ellipsoid.","PeriodicalId":143992,"journal":{"name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-12-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125312794","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-12-22DOI: 10.1109/HUMANOIDS.2017.8246950
Donghyun Kim, Orion Campbell, Junhyeok Ahn, L. Sentis, N. Paine
To significantly improve actuation technology for legged systems, we design, build, and empirically test the viscoelastic liquid cooled actuator (VLCA) for use in a robotic leg. Unlike existing actuators, VLCAs excel in the following five critical axes of performance, which are essential for dynamic motion control of practical legged robots: energy efficiency, power density, impact-resistance, position controllability, and force controllability. In this paper, we explain design details with respect to the five criteria, and present results from our extensive study of a variety of viscoelastic materials. Position controllability and power density are experimentally evaluated by demonstrating dynamic motion with a single leg testbed, custom-built using VLCAs. In the experiment, the testbed shows 6.1 rad/s maximum velocity and 240 Nm maximum torque while accurately executing the commanded motions.
{"title":"Investigations of viscoelastic liquid cooled actuators applied for dynamic motion control of legged systems","authors":"Donghyun Kim, Orion Campbell, Junhyeok Ahn, L. Sentis, N. Paine","doi":"10.1109/HUMANOIDS.2017.8246950","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2017.8246950","url":null,"abstract":"To significantly improve actuation technology for legged systems, we design, build, and empirically test the viscoelastic liquid cooled actuator (VLCA) for use in a robotic leg. Unlike existing actuators, VLCAs excel in the following five critical axes of performance, which are essential for dynamic motion control of practical legged robots: energy efficiency, power density, impact-resistance, position controllability, and force controllability. In this paper, we explain design details with respect to the five criteria, and present results from our extensive study of a variety of viscoelastic materials. Position controllability and power density are experimentally evaluated by demonstrating dynamic motion with a single leg testbed, custom-built using VLCAs. In the experiment, the testbed shows 6.1 rad/s maximum velocity and 240 Nm maximum torque while accurately executing the commanded motions.","PeriodicalId":143992,"journal":{"name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-12-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126853944","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-11-17DOI: 10.1109/HUMANOIDS.2017.8239549
Alexander Werner, Bernd Henze, F. Loeffl, S. Leyendecker, C. Ott
Series-Elastic Actuators (SEA) have been proposed as a technology to build robust humanoid robots. The aim of this work is to generate efficient and robust walking for such robots. We present a combined approach which exploits the system dynamics through optimization based trajectory generation and a robust control scheme. The compliant actuator dynamics are explicitly modeled in the optimal control problem. For local stabilization, a passivity based tracking controller distributes the required control forces onto the available contacts. Additionally, a predictive control scheme for step adaptation is presented, which provides feasible contact points in the future. Using a reduced model, this combines efficient walking with robustness against model or environment uncertainties and external disturbances.
{"title":"Optimal and robust walking using intrinsic properties of a series-elastic robot","authors":"Alexander Werner, Bernd Henze, F. Loeffl, S. Leyendecker, C. Ott","doi":"10.1109/HUMANOIDS.2017.8239549","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2017.8239549","url":null,"abstract":"Series-Elastic Actuators (SEA) have been proposed as a technology to build robust humanoid robots. The aim of this work is to generate efficient and robust walking for such robots. We present a combined approach which exploits the system dynamics through optimization based trajectory generation and a robust control scheme. The compliant actuator dynamics are explicitly modeled in the optimal control problem. For local stabilization, a passivity based tracking controller distributes the required control forces onto the available contacts. Additionally, a predictive control scheme for step adaptation is presented, which provides feasible contact points in the future. Using a reduced model, this combines efficient walking with robustness against model or environment uncertainties and external disturbances.","PeriodicalId":143992,"journal":{"name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-11-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134452764","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-11-17DOI: 10.1109/HUMANOIDS.2017.8246968
M. Benallegue, A. Benallegue, Y. Chitour
The paper presents a new observer for tilt estimation of a 3-D non-rigid pendulum. The system can be seen as a multibody robot attached to the environment with a ball joint for which there is no sensor. The estimation of tilt, i.e. roll and pitch angles, is mandatory for balance control for a humanoid robot and all tasks requiring verticality. Our method obtains tilt estimations using joints encoders and inertial measurements given by an IMU equipped with triaxial accelerometer and gyrometer mounted in any body of the robot. The estimator takes profit from the kinematic coupling resulting from the pivot constraint and uses the entire signal of accelerometer including linear accelerations. Almost Global Asymptotic convergence of the estimation errors is proven together with local exponential stability. The performance of the proposed observer is illustrated by simulations.
{"title":"Tilt estimator for 3D non-rigid pendulum based on a tri-axial accelerometer and gyrometer","authors":"M. Benallegue, A. Benallegue, Y. Chitour","doi":"10.1109/HUMANOIDS.2017.8246968","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2017.8246968","url":null,"abstract":"The paper presents a new observer for tilt estimation of a 3-D non-rigid pendulum. The system can be seen as a multibody robot attached to the environment with a ball joint for which there is no sensor. The estimation of tilt, i.e. roll and pitch angles, is mandatory for balance control for a humanoid robot and all tasks requiring verticality. Our method obtains tilt estimations using joints encoders and inertial measurements given by an IMU equipped with triaxial accelerometer and gyrometer mounted in any body of the robot. The estimator takes profit from the kinematic coupling resulting from the pivot constraint and uses the entire signal of accelerometer including linear accelerations. Almost Global Asymptotic convergence of the estimation errors is proven together with local exponential stability. The performance of the proposed observer is illustrated by simulations.","PeriodicalId":143992,"journal":{"name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-11-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115580614","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-11-15DOI: 10.1109/HUMANOIDS.2017.8246942
V. Samy, Stéphane Caron, Karim Bouyarmane, A. Kheddar
We consider control of a humanoid robot in active compliance just after the impact consecutive to a fall. The goal of this post-impact braking is to absorb undesired linear momentum accumulated during the fall, using a limited supply of time and actuation power. The gist of our method is an optimal distribution of undesired momentum between the robot's hand and foot contact points, followed by the parallel resolution of Linear Model Predictive Control (LMPC) at each contact. This distribution is made possible thanks to torque-limited friction polytopes, an extension of friction cones that takes actuation limits into account. Individual LMPC results are finally combined back into a feasible CoM trajectory sent to the robot's whole-body controller. We validate the solution in full-body dynamics simulation of an HRP-4 humanoid falling on a wall.
{"title":"Post-impact adaptive compliance for humanoid falls using predictive control of a reduced model","authors":"V. Samy, Stéphane Caron, Karim Bouyarmane, A. Kheddar","doi":"10.1109/HUMANOIDS.2017.8246942","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2017.8246942","url":null,"abstract":"We consider control of a humanoid robot in active compliance just after the impact consecutive to a fall. The goal of this post-impact braking is to absorb undesired linear momentum accumulated during the fall, using a limited supply of time and actuation power. The gist of our method is an optimal distribution of undesired momentum between the robot's hand and foot contact points, followed by the parallel resolution of Linear Model Predictive Control (LMPC) at each contact. This distribution is made possible thanks to torque-limited friction polytopes, an extension of friction cones that takes actuation limits into account. Individual LMPC results are finally combined back into a feasible CoM trajectory sent to the robot's whole-body controller. We validate the solution in full-body dynamics simulation of an HRP-4 humanoid falling on a wall.","PeriodicalId":143992,"journal":{"name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130580628","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-11-15DOI: 10.1109/HUMANOIDS.2017.8246911
K. Otani, Karim Bouyarmane
We propose a controller for loco-manipulation motion retargeting from a human to a humanoid robot. Using this controller, the robot can track complex motions and automatically adapt to elements in the environment that have different physical properties from those that were used to provide the human's reference motion. The multi-contact loco-manipulation problem is formulated as a multi-robot quadratic program (MRQP), which optimizes over the combined dynamics of the robot and any manipulated element in the environment. Our approach maintains a dynamic partition of the robot's tracking links into fixed support contact links, manipulation contact links, and contact-free tracking links. The three sets are repartitioned and re-instantiated as objectives or constraints in the MRQP when contact events occur in the human motion. We present various experiments (bag retrieval, door opening, box lifting) using human motion data from an Xsens inertial motion capture system. We show in dynamics simulation that the robot is able to perform difficult single-stance motions as well as multi-contact-stance motions (including hand supports), while adapting to environment elements of varying inertial properties.
{"title":"Adaptive whole-body manipulation in human-to-humanoid multi-contact motion retargeting","authors":"K. Otani, Karim Bouyarmane","doi":"10.1109/HUMANOIDS.2017.8246911","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2017.8246911","url":null,"abstract":"We propose a controller for loco-manipulation motion retargeting from a human to a humanoid robot. Using this controller, the robot can track complex motions and automatically adapt to elements in the environment that have different physical properties from those that were used to provide the human's reference motion. The multi-contact loco-manipulation problem is formulated as a multi-robot quadratic program (MRQP), which optimizes over the combined dynamics of the robot and any manipulated element in the environment. Our approach maintains a dynamic partition of the robot's tracking links into fixed support contact links, manipulation contact links, and contact-free tracking links. The three sets are repartitioned and re-instantiated as objectives or constraints in the MRQP when contact events occur in the human motion. We present various experiments (bag retrieval, door opening, box lifting) using human motion data from an Xsens inertial motion capture system. We show in dynamics simulation that the robot is able to perform difficult single-stance motions as well as multi-contact-stance motions (including hand supports), while adapting to environment elements of varying inertial properties.","PeriodicalId":143992,"journal":{"name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127015016","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-11-15DOI: 10.1109/HUMANOIDS.2017.8246969
N. Villa, Pierre-Brice Wieber
A biped walking controller for humanoid robots has to handle together hard constraints, dynamic environments, and uncertainties. Model Predictive Control (MPC) is a suitable and widely used control method to handle the first two issues. Uncertainties on the robot imply a non-zero tracking error when trying to follow a reference motion. A standard solution for this issue is to use tighter constraints by introducing some hand tuned safety margins, for the reference motion generation to ensure that the actual robot motion will satisfy all constraints even in presence of the tracking error. In this article, we find bounds for the tracking error and we show how such safety margins can be precisely computed from the tracking error bounds. Also, a tracking control gain is proposed to reduce the restrictiveness introduced with the safety margins. MPC with these considerations ensure the correct operation of the biped robot under a given degree of uncertainties when it is implemented in open-loop. Nevertheless, the straightforward way to implement an MPC closed-loop scheme fails. We discuss the reasons for this failure and propose a robust closed-loop MPC scheme.
{"title":"Model predictive control of biped walking with bounded uncertainties","authors":"N. Villa, Pierre-Brice Wieber","doi":"10.1109/HUMANOIDS.2017.8246969","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2017.8246969","url":null,"abstract":"A biped walking controller for humanoid robots has to handle together hard constraints, dynamic environments, and uncertainties. Model Predictive Control (MPC) is a suitable and widely used control method to handle the first two issues. Uncertainties on the robot imply a non-zero tracking error when trying to follow a reference motion. A standard solution for this issue is to use tighter constraints by introducing some hand tuned safety margins, for the reference motion generation to ensure that the actual robot motion will satisfy all constraints even in presence of the tracking error. In this article, we find bounds for the tracking error and we show how such safety margins can be precisely computed from the tracking error bounds. Also, a tracking control gain is proposed to reduce the restrictiveness introduced with the safety margins. MPC with these considerations ensure the correct operation of the biped robot under a given degree of uncertainties when it is implemented in open-loop. Nevertheless, the straightforward way to implement an MPC closed-loop scheme fails. We discuss the reasons for this failure and propose a robust closed-loop MPC scheme.","PeriodicalId":143992,"journal":{"name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133174591","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-11-15DOI: 10.1109/HUMANOIDS.2017.8246920
Stanislas Brossette, Pierre-Brice Wieber
In this paper, we present a formulation of the collision avoidance constraints that relies on the use of separating planes instead of a distance function. This formulation has the advantage of being defined and continuously differentiable in every situation. Because it introduces additional variables to the optimization problems, making it bigger and potentially slowing down its resolution, we propose a different resolution method that takes advantage of the independence of the variables, to form two subproblems that can be solved efficiently in an alternate problem fashion. We present some preliminary results using this approach in order to highlight its potential and promises in terms of convergence speed and robustness.
{"title":"Collision avoidance based on separating planes for feet trajectory generation","authors":"Stanislas Brossette, Pierre-Brice Wieber","doi":"10.1109/HUMANOIDS.2017.8246920","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2017.8246920","url":null,"abstract":"In this paper, we present a formulation of the collision avoidance constraints that relies on the use of separating planes instead of a distance function. This formulation has the advantage of being defined and continuously differentiable in every situation. Because it introduces additional variables to the optimization problems, making it bigger and potentially slowing down its resolution, we propose a different resolution method that takes advantage of the independence of the variables, to form two subproblems that can be solved efficiently in an alternate problem fashion. We present some preliminary results using this approach in order to highlight its potential and promises in terms of convergence speed and robustness.","PeriodicalId":143992,"journal":{"name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123915076","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-11-15DOI: 10.1109/HUMANOIDS.2017.8246894
Yang Shen, Brandon Po-Yun Hsiao, Ji Ma, J. Rosen
Resistance training may be considered as one promising approach for improving the motor capabilities of post-stroke patients. A successful introduction of this depends on the proper resolution of human arm redundancy under gravitational loading. The spatially heterogeneous changes of the human arm swivel angle (which represents the upper limb redundancy) are studied under different loading conditions, the effects of which are incorporated into a modified dynamic manipulability ellipsoid model. A new scalar index describing the arm postural stability (APSI) is then proposed. As part of the experimental protocol, ten (10) healthy subjects performed multiple reaching tasks with different weights mounted on the forearm. Kinematic data was collected via a ten-camera motion capture system and the corresponding APSI was calculated for each task. APSI is found to have a strong linear correlation with the swivel angle under loading conditions. Furthermore, the data suggest that the swivel angle may serve as an indicator of arm postural stability and task difficulty. The results of additional experiments conducted with three (3) subjects indicate that the external loads could deteriorate the arm's control performance in tasks like line tracing (root mean square deviation from straight lines). These findings may be applicable to robot-based (exoskeleton) resistance therapy, assist-as-needed gravity compensation, and human-like motion control of humanoid robotic systems.
{"title":"Upper limb redundancy resolution under gravitational loading conditions: Arm postural stability index based on dynamic manipulability analysis","authors":"Yang Shen, Brandon Po-Yun Hsiao, Ji Ma, J. Rosen","doi":"10.1109/HUMANOIDS.2017.8246894","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2017.8246894","url":null,"abstract":"Resistance training may be considered as one promising approach for improving the motor capabilities of post-stroke patients. A successful introduction of this depends on the proper resolution of human arm redundancy under gravitational loading. The spatially heterogeneous changes of the human arm swivel angle (which represents the upper limb redundancy) are studied under different loading conditions, the effects of which are incorporated into a modified dynamic manipulability ellipsoid model. A new scalar index describing the arm postural stability (APSI) is then proposed. As part of the experimental protocol, ten (10) healthy subjects performed multiple reaching tasks with different weights mounted on the forearm. Kinematic data was collected via a ten-camera motion capture system and the corresponding APSI was calculated for each task. APSI is found to have a strong linear correlation with the swivel angle under loading conditions. Furthermore, the data suggest that the swivel angle may serve as an indicator of arm postural stability and task difficulty. The results of additional experiments conducted with three (3) subjects indicate that the external loads could deteriorate the arm's control performance in tasks like line tracing (root mean square deviation from straight lines). These findings may be applicable to robot-based (exoskeleton) resistance therapy, assist-as-needed gravity compensation, and human-like motion control of humanoid robotic systems.","PeriodicalId":143992,"journal":{"name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123285945","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-11-15DOI: 10.1109/HUMANOIDS.2017.8246947
O. Stasse, T. Flayols, Rohan Budhiraja, Kevin Giraud-Esclasse, Justin Carpentier, Joseph Mirabel, A. Prete, P. Souéres, N. Mansard, F. Lamiraux, J. Laumond, Luca Marchionni, H. Tome, F. Ferro
The upcoming generation of humanoid robots will have to be equipped with state-of-the-art technical features along with high industrial quality, but they should also offer the prospect of effective physical human interaction. In this paper we introduce a new humanoid robot capable of interacting with a human environment and targeting industrial applications. Limitations are outlined and used together with the feedback from the DARPA Robotics Challenge, and other teams leading the field in creating new humanoid robots. The resulting robot is able to handle weights of 6 kg with an out-stretched arm, and has powerful motors to carry out fast movements. Its kinematics have been specially designed for screwing and drilling motions. In order to make interaction with human operators possible, this robot is equipped with torque sensors to measure joint effort and high resolution encoders to measure both motor and joint positions. The humanoid robotics field has reached a stage where robustness and repeatability is the next watershed. We believe that this robot has the potential to become a powerful tool for the research community to successfully navigate this turning point, as the humanoid robot HRP-2 was in its own time.
{"title":"TALOS: A new humanoid research platform targeted for industrial applications","authors":"O. Stasse, T. Flayols, Rohan Budhiraja, Kevin Giraud-Esclasse, Justin Carpentier, Joseph Mirabel, A. Prete, P. Souéres, N. Mansard, F. Lamiraux, J. Laumond, Luca Marchionni, H. Tome, F. Ferro","doi":"10.1109/HUMANOIDS.2017.8246947","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2017.8246947","url":null,"abstract":"The upcoming generation of humanoid robots will have to be equipped with state-of-the-art technical features along with high industrial quality, but they should also offer the prospect of effective physical human interaction. In this paper we introduce a new humanoid robot capable of interacting with a human environment and targeting industrial applications. Limitations are outlined and used together with the feedback from the DARPA Robotics Challenge, and other teams leading the field in creating new humanoid robots. The resulting robot is able to handle weights of 6 kg with an out-stretched arm, and has powerful motors to carry out fast movements. Its kinematics have been specially designed for screwing and drilling motions. In order to make interaction with human operators possible, this robot is equipped with torque sensors to measure joint effort and high resolution encoders to measure both motor and joint positions. The humanoid robotics field has reached a stage where robustness and repeatability is the next watershed. We believe that this robot has the potential to become a powerful tool for the research community to successfully navigate this turning point, as the humanoid robot HRP-2 was in its own time.","PeriodicalId":143992,"journal":{"name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134260704","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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