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2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)最新文献

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Stiffness evaluation of a tendon-driven robot with variable joint stiffness mechanisms 具有可变关节刚度机构的肌腱驱动机器人的刚度评估
Pub Date : 2017-12-22 DOI: 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.
提出了一种具有可变关节刚度机构的新型肌腱驱动机器人。肌腱驱动机器人能够通过钢丝张力在连杆上滑动变刚度机构来改变关节的刚度。因此,肌腱驱动机器人的结构和力臂会随着可变机构的位置而变化。因此,本文设计了变刚度机构的肌腱驱动机器人,并利用刚度椭球体对肌腱驱动机器人的刚度进行了评价。
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引用次数: 2
Investigations of viscoelastic liquid cooled actuators applied for dynamic motion control of legged systems 粘弹性液冷作动器在足式系统动态运动控制中的应用研究
Pub Date : 2017-12-22 DOI: 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.
为了显著改善腿系统的驱动技术,我们设计、制造并经验测试了用于机器人腿的粘弹性液冷驱动器(VLCA)。与现有的执行器不同,vlca在以下五个关键性能轴上表现出色,这对于实际腿式机器人的动态运动控制至关重要:能效、功率密度、抗冲击、位置可控性和力可控性。在本文中,我们解释了有关五个标准的设计细节,并介绍了我们对各种粘弹性材料的广泛研究的结果。通过使用VLCAs定制的单腿测试平台演示动态运动,对位置可控性和功率密度进行了实验评估。在实验中,该试验台在准确执行指令运动的同时,最大速度为6.1 rad/s,最大扭矩为240 Nm。
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引用次数: 5
Optimal and robust walking using intrinsic properties of a series-elastic robot 基于系列弹性机器人固有特性的最优鲁棒行走
Pub Date : 2017-11-17 DOI: 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.
系列弹性致动器(SEA)被提出作为一种构建鲁棒类人机器人的技术。这项工作的目的是为这样的机器人产生高效和健壮的行走。我们提出了一种结合方法,通过基于优化的轨迹生成和鲁棒控制方案来利用系统动力学。在最优控制问题中,明确地建立了柔性作动器的动力学模型。对于局部稳定,基于无源性的跟踪控制器将所需的控制力分配到可用的触点上。此外,还提出了一种阶跃自适应的预测控制方案,为今后提供了可行的接触点。使用简化模型,它结合了高效行走和对模型或环境不确定性和外部干扰的鲁棒性。
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引用次数: 6
Tilt estimator for 3D non-rigid pendulum based on a tri-axial accelerometer and gyrometer 基于三轴加速度计和陀螺仪的三维非刚性摆倾斜估计器
Pub Date : 2017-11-17 DOI: 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.
提出了一种用于三维非刚性摆倾斜估计的新观测器。该系统可以被看作是一个多体机器人,附着在没有传感器的球形关节上。估计倾斜,即滚转角和俯仰角,是必要的平衡控制的人形机器人和所有任务需要垂直。我们的方法利用关节编码器和由安装在机器人任何身体上的配有三轴加速度计和陀螺仪的IMU给出的惯性测量来获得倾斜估计。该估计器利用了由枢轴约束引起的运动耦合,并使用了包括线性加速度在内的加速度计的整个信号。证明了估计误差的几乎全局渐近收敛性和局部指数稳定性。仿真结果表明了该观测器的性能。
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引用次数: 10
Post-impact adaptive compliance for humanoid falls using predictive control of a reduced model 使用简化模型预测控制的仿人跌倒后冲击自适应顺应性
Pub Date : 2017-11-15 DOI: 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.
我们考虑了一个人形机器人的主动顺应控制后的冲击连续跌倒。这种后冲击制动的目标是吸收在下降过程中积累的不希望的线性动量,使用有限的时间和驱动功率。该方法的要点是在机器人的手和脚接触点之间进行理想动量的最优分布,然后在每个接触点进行线性模型预测控制(LMPC)的并行分辨率。由于扭矩限制摩擦多面体,这种分布成为可能,这是考虑到驱动限制的摩擦锥体的延伸。单个LMPC的结果最后被合并回一个可行的CoM轨迹,发送给机器人的全身控制器。在HRP-4型人形机器人坠墙的全身动力学仿真中验证了该方法的有效性。
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引用次数: 24
Adaptive whole-body manipulation in human-to-humanoid multi-contact motion retargeting 人-人形多接触运动重定向的自适应全身操作
Pub Date : 2017-11-15 DOI: 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.
我们提出了一种从人到类人机器人的局部操纵运动重定向控制器。使用该控制器,机器人可以跟踪复杂的运动,并自动适应环境中具有不同物理特性的元素,这些元素与用于提供人类参考运动的元素不同。多接触局部操纵问题被表述为一个多机器人二次规划(MRQP),它对机器人和环境中任何被操纵元素的组合动力学进行优化。该方法将机器人的跟踪链路动态划分为固定支撑接触链路、操纵接触链路和无接触跟踪链路。当人体运动中发生接触事件时,这三个集合被重新划分并重新实例化为MRQP中的目标或约束。我们使用Xsens惯性运动捕捉系统的人体运动数据进行了各种实验(取袋,开门,提箱)。我们在动力学仿真中表明,机器人能够执行困难的单姿态运动以及多接触姿态运动(包括手支撑),同时适应不同惯性特性的环境元素。
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引用次数: 17
Model predictive control of biped walking with bounded uncertainties 具有有界不确定性的双足行走模型预测控制
Pub Date : 2017-11-15 DOI: 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.
人形机器人的双足行走控制器必须同时处理硬约束、动态环境和不确定性。模型预测控制(MPC)是解决前两个问题的一种合适且广泛应用的控制方法。机器人的不确定性意味着在试图跟随参考运动时存在非零跟踪误差。这个问题的标准解决方案是通过引入一些手动调整的安全裕度来使用更严格的约束,用于参考运动生成,以确保即使存在跟踪误差,实际机器人运动也将满足所有约束。在本文中,我们找到了跟踪误差的界限,并展示了如何从跟踪误差界限精确地计算出这种安全边际。此外,还提出了跟踪控制增益,以减少安全裕度带来的限制。考虑到这些因素的MPC保证了双足机器人在开环中实现时在给定不确定程度下的正确运行。然而,直接实现MPC闭环方案的方法失败了。我们讨论了这种失败的原因,并提出了一个鲁棒的闭环MPC方案。
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引用次数: 19
Collision avoidance based on separating planes for feet trajectory generation 基于分离平面的足部轨迹生成避碰
Pub Date : 2017-11-15 DOI: 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.
在本文中,我们提出了一个避碰约束的公式,该公式依赖于使用分离平面而不是距离函数。这个公式的优点是在任何情况下都是可定义的和连续可微的。因为它为优化问题引入了额外的变量,使其更大,并可能减慢其解决速度,我们提出了一种不同的解决方法,利用变量的独立性,形成两个子问题,可以以替代问题的方式有效地解决。我们提出了一些使用这种方法的初步结果,以突出其在收敛速度和鲁棒性方面的潜力和承诺。
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引用次数: 11
Upper limb redundancy resolution under gravitational loading conditions: Arm postural stability index based on dynamic manipulability analysis 重力载荷条件下上肢冗余度分辨率:基于动态可操纵性分析的臂位稳定性指标
Pub Date : 2017-11-15 DOI: 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.
抗阻训练被认为是改善脑卒中后患者运动能力的一种很有前途的方法。成功地引入这一点取决于重力载荷下人体手臂冗余的适当分辨率。研究了不同载荷条件下人体手臂旋转角度(代表上肢冗余度)的空间异质性变化,并将其影响纳入改进的动态可操作性椭球模型。提出了一种新的描述手臂姿态稳定性的标量指标。作为实验方案的一部分,十(10)名健康受试者在前臂上施加不同重量,完成多项伸手任务。通过一个十摄像头运动捕捉系统收集运动学数据,并计算每个任务对应的APSI。在加载条件下,APSI与旋转角度有很强的线性相关性。此外,数据表明旋转角度可以作为手臂姿势稳定性和任务难度的指标。另外对三(3)名受试者进行的实验结果表明,外部负载会降低手臂在直线追踪(直线的均方根偏差)等任务中的控制性能。这些发现可能适用于基于机器人(外骨骼)的阻力治疗,根据需要辅助重力补偿,以及类人机器人系统的类人运动控制。
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引用次数: 7
TALOS: A new humanoid research platform targeted for industrial applications TALOS:面向工业应用的新型人形研究平台
Pub Date : 2017-11-15 DOI: 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.
即将到来的一代人形机器人不仅要具备最先进的技术特征和高工业质量,而且还应该提供有效的物理人机交互的前景。在本文中,我们介绍了一种新的人形机器人,能够与人类环境交互,并针对工业应用。限制被概述并与DARPA机器人挑战赛的反馈一起使用,以及其他领导该领域创造新的人形机器人的团队。由此产生的机器人能够用伸出的手臂处理6公斤的重量,并具有强大的马达来进行快速运动。它的运动学是专门为旋紧和钻孔运动设计的。为了能够与人类操作者进行交互,该机器人配备了扭矩传感器来测量关节的作用力,并配备了高分辨率编码器来测量电机和关节的位置。人形机器人领域已经达到了一个阶段,鲁棒性和可重复性是下一个分水岭。我们相信,这个机器人有潜力成为研究界成功驾驭这一转折点的强大工具,就像人形机器人HRP-2在它自己的时代一样。
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引用次数: 110
期刊
2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)
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