Pub Date : 2019-10-01DOI: 10.1109/Humanoids43949.2019.9035066
C. Ishi, Ryusuke Mikata, T. Minato, H. Ishiguro
Hand gestures commonly occur in daily dialogue interactions, and have important functions in communication. In this study, we proposed and implemented an online processing for a speech-driven gesture motion generation in an android robot dialogue system. Issues on motion overlaps and speech interruptions by the dialogue partner were taken into account. We then conducted two experiments to evaluate the effects of occasional dis-synchrony between the generated motions and speech, and the effects of holding duration control after speech interruptions. Evaluation results indicated that gestures should not be delayed by more than 400ms relative to the speech utterances. Evaluation of the second experiment indicated that gesture holding durations around 0.5 to 2 seconds after an interruption look natural, while longer durations may cause impression of displeasure by the robot.
{"title":"Online processing for speech-driven gesture motion generation in android robots","authors":"C. Ishi, Ryusuke Mikata, T. Minato, H. Ishiguro","doi":"10.1109/Humanoids43949.2019.9035066","DOIUrl":"https://doi.org/10.1109/Humanoids43949.2019.9035066","url":null,"abstract":"Hand gestures commonly occur in daily dialogue interactions, and have important functions in communication. In this study, we proposed and implemented an online processing for a speech-driven gesture motion generation in an android robot dialogue system. Issues on motion overlaps and speech interruptions by the dialogue partner were taken into account. We then conducted two experiments to evaluate the effects of occasional dis-synchrony between the generated motions and speech, and the effects of holding duration control after speech interruptions. Evaluation results indicated that gestures should not be delayed by more than 400ms relative to the speech utterances. Evaluation of the second experiment indicated that gesture holding durations around 0.5 to 2 seconds after an interruption look natural, while longer durations may cause impression of displeasure by the robot.","PeriodicalId":404758,"journal":{"name":"2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117208669","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 : 2019-10-01DOI: 10.1109/Humanoids43949.2019.9035078
Taisuke Kobayashi, E. Dean-León, J. R. Guadarrama-Olvera, Florian Bergner, G. Cheng
This paper proposes a force-reactive walking control framework for humanoid robots, which consists of ankle and stepping strategies for stabilization during physical human-robot interaction (pHRI). Contact forces measured by robotic skin are explicitly considered in the proposed framework. The ankle strategy aims to keep the footstep location and duration within a nominal range, and this strategy is used to generate physical cues to inform the human partner about the robot's walking intentions. Thereafter, only when the ankle strategy cannot keep the walking balance, the stepping strategy adjusts the footstep location, the duration of single support phase, and the timing to start the next step to follow the partner's intention, which is derived via the contact interaction. By exploiting these two strategies, pHRI can be achieved where intentions of the partner and the robot are mutually exchanged. In a real experiment with a full-sized humanoid robot, where the partner teaches the footstep to the robot, our proposed framework succeeded in adjusting the footstep according to multiple contact forces related to the partner's intention, while basically trying to keep its own nominal footstep.
{"title":"Multi-Contacts Force-Reactive Walking Control during Physical Human-Humanoid Interaction","authors":"Taisuke Kobayashi, E. Dean-León, J. R. Guadarrama-Olvera, Florian Bergner, G. Cheng","doi":"10.1109/Humanoids43949.2019.9035078","DOIUrl":"https://doi.org/10.1109/Humanoids43949.2019.9035078","url":null,"abstract":"This paper proposes a force-reactive walking control framework for humanoid robots, which consists of ankle and stepping strategies for stabilization during physical human-robot interaction (pHRI). Contact forces measured by robotic skin are explicitly considered in the proposed framework. The ankle strategy aims to keep the footstep location and duration within a nominal range, and this strategy is used to generate physical cues to inform the human partner about the robot's walking intentions. Thereafter, only when the ankle strategy cannot keep the walking balance, the stepping strategy adjusts the footstep location, the duration of single support phase, and the timing to start the next step to follow the partner's intention, which is derived via the contact interaction. By exploiting these two strategies, pHRI can be achieved where intentions of the partner and the robot are mutually exchanged. In a real experiment with a full-sized humanoid robot, where the partner teaches the footstep to the robot, our proposed framework succeeded in adjusting the footstep according to multiple contact forces related to the partner's intention, while basically trying to keep its own nominal footstep.","PeriodicalId":404758,"journal":{"name":"2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids)","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124200480","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 : 2019-10-01DOI: 10.1109/Humanoids43949.2019.9035025
Li Tian, Jing Liu, N. Magnenat-Thalmann, D. Thalmann, Jianmin Zheng
It is often desirable for humanoid robots to have dexterous hands and perform human-like grasps. This requires a deliberate design of hands, in addition to a good actuation system and an efficient 3D vision system. In this paper, we present a simple method to produce a customized articulated robotic hand for a humanoid robot (eg., Nadine social robot). Our method acquires the 3D shape by 3D scanning, which can cost-effectively generate customized hands. Guided by the human hand anatomy and inspired by the progress of 3D printing technology, we model the structure of the robotic hand using standard shapes such as cuboids, spheres and cylinders, which are adapted to match the scanned shape and fabricated using 3D printing. Moreover, we choose flexible resin materials11https://formlabs.com/3d-printers/form-2/, which are supported by 3D printers, to make the fabricated hand flexible enough for natural deformation. As a result, our designed robotic hand has six degrees of freedom and together with a cable-driven actuation system can achieve the range of motion as a human hand. Experimental results demonstrated that our robotic hand is capable of grasping a variety of objects with different shapes.
{"title":"Design of a Flexible Articulated Robotic Hand for a Humanoid Robot","authors":"Li Tian, Jing Liu, N. Magnenat-Thalmann, D. Thalmann, Jianmin Zheng","doi":"10.1109/Humanoids43949.2019.9035025","DOIUrl":"https://doi.org/10.1109/Humanoids43949.2019.9035025","url":null,"abstract":"It is often desirable for humanoid robots to have dexterous hands and perform human-like grasps. This requires a deliberate design of hands, in addition to a good actuation system and an efficient 3D vision system. In this paper, we present a simple method to produce a customized articulated robotic hand for a humanoid robot (eg., Nadine social robot). Our method acquires the 3D shape by 3D scanning, which can cost-effectively generate customized hands. Guided by the human hand anatomy and inspired by the progress of 3D printing technology, we model the structure of the robotic hand using standard shapes such as cuboids, spheres and cylinders, which are adapted to match the scanned shape and fabricated using 3D printing. Moreover, we choose flexible resin materials11https://formlabs.com/3d-printers/form-2/, which are supported by 3D printers, to make the fabricated hand flexible enough for natural deformation. As a result, our designed robotic hand has six degrees of freedom and together with a cable-driven actuation system can achieve the range of motion as a human hand. Experimental results demonstrated that our robotic hand is capable of grasping a variety of objects with different shapes.","PeriodicalId":404758,"journal":{"name":"2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115865224","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 : 2019-10-01DOI: 10.1109/Humanoids43949.2019.9035007
Pamela Carreno-Medrano, T. Harada, J. Lin, D. Kulić, G. Venture
For robots that collaborate alongside and work with humans, there is great interest in improving robot communication abilities to achieve engaging and successful interactions. Successful task collaborations between humans often involve functional motions in which implicit communication signals, such as affect, are embedded. Thus in order to improve a robot's communication capabilities, it is necessary to identify the different motor control strategies that humans employ when generating such implicit signals. This paper details the adaptation of an Inverse Optimal Control (IOC) methodology for this purpose. We hypothesize that IOC allows for the identification of the motion strategies involved in the implicit communication of affective content during the performance of functional movement. To test our hypothesis, a motion capture dataset consisting of upper-body functional movements was collected and annotated by multiple observers through a perceptual user study. Among the different control strategies considered during our analysis, we found that center of mass movement, quantity of motion, Laban space effort and effort were the most relevant when distinguishing motions that convey different affective states.
{"title":"Analysis of Affective Human Motion During Functional Task Performance: An Inverse Optimal Control Approach","authors":"Pamela Carreno-Medrano, T. Harada, J. Lin, D. Kulić, G. Venture","doi":"10.1109/Humanoids43949.2019.9035007","DOIUrl":"https://doi.org/10.1109/Humanoids43949.2019.9035007","url":null,"abstract":"For robots that collaborate alongside and work with humans, there is great interest in improving robot communication abilities to achieve engaging and successful interactions. Successful task collaborations between humans often involve functional motions in which implicit communication signals, such as affect, are embedded. Thus in order to improve a robot's communication capabilities, it is necessary to identify the different motor control strategies that humans employ when generating such implicit signals. This paper details the adaptation of an Inverse Optimal Control (IOC) methodology for this purpose. We hypothesize that IOC allows for the identification of the motion strategies involved in the implicit communication of affective content during the performance of functional movement. To test our hypothesis, a motion capture dataset consisting of upper-body functional movements was collected and annotated by multiple observers through a perceptual user study. Among the different control strategies considered during our analysis, we found that center of mass movement, quantity of motion, Laban space effort and effort were the most relevant when distinguishing motions that convey different affective states.","PeriodicalId":404758,"journal":{"name":"2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids)","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123582330","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 : 2019-10-01DOI: 10.1109/Humanoids43949.2019.9035020
Rachneet Kaur, Rongyi Sun, Liran Ziegelman, Richard B. Sowers, M. Hernandez
We examine the feasibility and effectiveness of a virtual reality (VR) based experimental setup to monitor and modify the neural and physiological anxiety-related responses to balance-demanding target-reaching whole body leaning tasks. In our system, electroencephalography (EEG) and electrocardiography (EKG) signals are used to analyze the subjects' real-time neural and cardiac activities, respectively, while subjects perform accuracy-constrained whole body movements as quickly and as accurately as possible in high fall-risk VR conditions. Salient features of neural and cardiac responses are analyzed to monitor anxiety-related changes in subjects during the performance of balance-demanding tasks. Validation of the proposed framework, integrating VR and sensor-based monitoring, may pave the way to smart and intuitive human-robot or brain-computer interface systems that can detect anxiety in human users during the performance of demanding motor tasks. The application of linear and radial basis function support vector machine classifiers suggest good performance in detecting anxiety using power of the alpha band from F3 and F4 channels of the EEG head cap. Our results suggest that frontal alpha asymmetry (FAA) may be used as bio-marker for quantifying both trait and state anxiety, and further conclude that state anxiety is correlated with motor task performance.
{"title":"Using Virtual Reality to Examine the Neural and Physiological Anxiety-Related Responses to Balance-Demanding Target-Reaching Leaning Tasks","authors":"Rachneet Kaur, Rongyi Sun, Liran Ziegelman, Richard B. Sowers, M. Hernandez","doi":"10.1109/Humanoids43949.2019.9035020","DOIUrl":"https://doi.org/10.1109/Humanoids43949.2019.9035020","url":null,"abstract":"We examine the feasibility and effectiveness of a virtual reality (VR) based experimental setup to monitor and modify the neural and physiological anxiety-related responses to balance-demanding target-reaching whole body leaning tasks. In our system, electroencephalography (EEG) and electrocardiography (EKG) signals are used to analyze the subjects' real-time neural and cardiac activities, respectively, while subjects perform accuracy-constrained whole body movements as quickly and as accurately as possible in high fall-risk VR conditions. Salient features of neural and cardiac responses are analyzed to monitor anxiety-related changes in subjects during the performance of balance-demanding tasks. Validation of the proposed framework, integrating VR and sensor-based monitoring, may pave the way to smart and intuitive human-robot or brain-computer interface systems that can detect anxiety in human users during the performance of demanding motor tasks. The application of linear and radial basis function support vector machine classifiers suggest good performance in detecting anxiety using power of the alpha band from F3 and F4 channels of the EEG head cap. Our results suggest that frontal alpha asymmetry (FAA) may be used as bio-marker for quantifying both trait and state anxiety, and further conclude that state anxiety is correlated with motor task performance.","PeriodicalId":404758,"journal":{"name":"2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114484768","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 : 2019-10-01DOI: 10.1109/Humanoids43949.2019.9035015
V. Joukov, J. Lin, D. Kulić
Inertial measurement unit sensors are commonly used for human pose estimation. However, a systematic and robust method to incorporate position and orientation constraints in the kinematic structure during environmental contact is lacking. In this paper, we estimate the pose using the extended Kalman filter, linearize the closed loop constraints about the predicted Kalman filter state, then project the unconstrained state estimate onto the constrained space. Multiple constraints that are representative of real world scenarios are derived. The proposed technique is tested on two human movement datasets and demonstrated to outperform unconstrained Kalman filter.
{"title":"Closed-chain Pose Estimation from Wearable Sensors","authors":"V. Joukov, J. Lin, D. Kulić","doi":"10.1109/Humanoids43949.2019.9035015","DOIUrl":"https://doi.org/10.1109/Humanoids43949.2019.9035015","url":null,"abstract":"Inertial measurement unit sensors are commonly used for human pose estimation. However, a systematic and robust method to incorporate position and orientation constraints in the kinematic structure during environmental contact is lacking. In this paper, we estimate the pose using the extended Kalman filter, linearize the closed loop constraints about the predicted Kalman filter state, then project the unconstrained state estimate onto the constrained space. Multiple constraints that are representative of real world scenarios are derived. The proposed technique is tested on two human movement datasets and demonstrated to outperform unconstrained Kalman filter.","PeriodicalId":404758,"journal":{"name":"2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids)","volume":"98 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122820152","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 : 2019-10-01DOI: 10.1109/Humanoids43949.2019.9336617
H. Kristanto, Prathamesh Sathe, A. Schmitz, Chincheng Hsu, Tito Pradhono Tomo, S. Somlor, S. Sugano
Measuring the forces that humans exert during object manipulation could have several applications, including skill transfer from humans to robots, human monitoring or product optimization. However, measuring the forces from humans without obstructing their interaction with the environment is challenging. In previous research we suggested a tactile sensor that does not cover the human's skin that is in contact with the object. In particular, the sensors are placed on the sides of the human's fingertips, and measure the deformation of the fingerpad resulting from interaction with objects. The current paper proposes a vastly improved design, using four 3-axis sensors to measure the fingerpad deformation. Thereby, the area of the fingertip from which forces can be detected is larger, and a higher signal-to-noise ratio was achieved. Moreover, the mounting on the fingertip was improved, as well as the calibration procedure. An evaluation with 10 subjects was performed, demonstrating the improved sensor characteristics.
{"title":"Development of a 3-axis Human Fingertip Tactile Sensor Based on Distributed Hall Effect Sensors","authors":"H. Kristanto, Prathamesh Sathe, A. Schmitz, Chincheng Hsu, Tito Pradhono Tomo, S. Somlor, S. Sugano","doi":"10.1109/Humanoids43949.2019.9336617","DOIUrl":"https://doi.org/10.1109/Humanoids43949.2019.9336617","url":null,"abstract":"Measuring the forces that humans exert during object manipulation could have several applications, including skill transfer from humans to robots, human monitoring or product optimization. However, measuring the forces from humans without obstructing their interaction with the environment is challenging. In previous research we suggested a tactile sensor that does not cover the human's skin that is in contact with the object. In particular, the sensors are placed on the sides of the human's fingertips, and measure the deformation of the fingerpad resulting from interaction with objects. The current paper proposes a vastly improved design, using four 3-axis sensors to measure the fingerpad deformation. Thereby, the area of the fingertip from which forces can be detected is larger, and a higher signal-to-noise ratio was achieved. Moreover, the mounting on the fingertip was improved, as well as the calibration procedure. An evaluation with 10 subjects was performed, demonstrating the improved sensor characteristics.","PeriodicalId":404758,"journal":{"name":"2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids)","volume":"2014 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127583092","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 : 2019-10-01DOI: 10.1109/Humanoids43949.2019.9035056
G. Garcia-Chavez
Maintaining the balance when a robot is pushed forward is fundamental for legged robots. An essential topic in the literature is capture point; it is the place where the robot can step to in order to recover from the push. In this work, we study the Variable-Height Inverted Pendulum (VHIP) as the model for a pushed robot. We found all of the points that are allowed to be a capture point for given initial velocities of the center of mass and actuator limitations. We also develop a controller to reach a capture point using the reaction force to the ground as input variable. We pay attention to the unilateral contact and the maximum-value of a function of the reaction force. First, we obtain the necessary conditions that must be satisfied to be able to achieve balance by providing a decomposition of the VHIP into a new Divergent Component of Motion and a Convergent Component of Motion. Then we present two control laws to stabilize the system and we show that the region of attraction is equivalent to the region of necessary condition for balance. Finally, we briefly discuss the physical places where balance can be achieved.
{"title":"A Control Approach for the Variable-Height Inverted Pendulum Based on Sliding Mode Control With Input Saturation","authors":"G. Garcia-Chavez","doi":"10.1109/Humanoids43949.2019.9035056","DOIUrl":"https://doi.org/10.1109/Humanoids43949.2019.9035056","url":null,"abstract":"Maintaining the balance when a robot is pushed forward is fundamental for legged robots. An essential topic in the literature is capture point; it is the place where the robot can step to in order to recover from the push. In this work, we study the Variable-Height Inverted Pendulum (VHIP) as the model for a pushed robot. We found all of the points that are allowed to be a capture point for given initial velocities of the center of mass and actuator limitations. We also develop a controller to reach a capture point using the reaction force to the ground as input variable. We pay attention to the unilateral contact and the maximum-value of a function of the reaction force. First, we obtain the necessary conditions that must be satisfied to be able to achieve balance by providing a decomposition of the VHIP into a new Divergent Component of Motion and a Convergent Component of Motion. Then we present two control laws to stabilize the system and we show that the region of attraction is equivalent to the region of necessary condition for balance. Finally, we briefly discuss the physical places where balance can be achieved.","PeriodicalId":404758,"journal":{"name":"2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids)","volume":"122 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128256681","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 : 2019-10-01DOI: 10.1109/Humanoids43949.2019.9035081
Vittorio Lippi, T. Mergner, T. Seel, C. Maurer
This work presents a system to benchmark humanoid posture control and balance performances under perturbed conditions. The specific benchmarking scenario consists, for example, of balancing upright stance while performing voluntary movements on moving surfaces. The system includes a motion platform used to provide the perturbation, an innovative body-tracking system suitable for robots, humans and exoskeletons, control software and a set of predefined perturbations, a humanoid robot used to test algorithms, and analysis software providing state of the art data analysis used to provide quantitative measures of performance. In order to provide versatility, the design of the system is oriented to modularity: all its components can be replaced or extended according to experimental needs, adding additional perturbation profiles, new evaluation principles, and alternative tracking systems. It will be possible to use the system with different kinds of robots and exoskeletons as well as for human experiments aimed at gaining insights into human balance capabilities.
{"title":"COMTEST Project: A Complete Modular Test Stand for Human and Humanoid Posture Control and Balance","authors":"Vittorio Lippi, T. Mergner, T. Seel, C. Maurer","doi":"10.1109/Humanoids43949.2019.9035081","DOIUrl":"https://doi.org/10.1109/Humanoids43949.2019.9035081","url":null,"abstract":"This work presents a system to benchmark humanoid posture control and balance performances under perturbed conditions. The specific benchmarking scenario consists, for example, of balancing upright stance while performing voluntary movements on moving surfaces. The system includes a motion platform used to provide the perturbation, an innovative body-tracking system suitable for robots, humans and exoskeletons, control software and a set of predefined perturbations, a humanoid robot used to test algorithms, and analysis software providing state of the art data analysis used to provide quantitative measures of performance. In order to provide versatility, the design of the system is oriented to modularity: all its components can be replaced or extended according to experimental needs, adding additional perturbation profiles, new evaluation principles, and alternative tracking systems. It will be possible to use the system with different kinds of robots and exoskeletons as well as for human experiments aimed at gaining insights into human balance capabilities.","PeriodicalId":404758,"journal":{"name":"2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126028418","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 : 2019-10-01DOI: 10.1109/Humanoids43949.2019.9035072
Iori Kumagai, M. Morisawa, M. Benallegue, F. Kanehiro
In this paper, we propose a multi-contact bipedal locomotion planning system for a humanoid robot, which can efficiently find feasible arm contacts and generate a quasistatic motion sequence supported by them. The key idea of our method is approximating the feasibility of an arm contact as its sustainability during a bipedal walking cycle, which we call “geometrical feasibility”. First, we plan a global path by RB-RRT with the reachability model and discretize it using footstep planning. In order to find sustainable contacts, we compute the intersections between the reachability volumes and environments along the planned footsteps, which are defined as contactable areas, and define contact candidates inside these intersections. Then, we prioritize possible contact sets based on their contactable areas and expected supportability. We pass these contact sets to whole-body motion planning process according to their priorities, and evaluate static equilibrium and kinematic constraints to generate quasi-static contact transitions. We apply the proposed system to four different simulation experiments, and conclude that it is a reasonable solution for the difficulty in predicting “feasible” arm contacts, which contributes to improving multi-contact capability of locomotion planning for a humanoid robot.
{"title":"Bipedal Locomotion Planning for a Humanoid Robot Supported by Arm Contacts Based on Geometrical Feasibility","authors":"Iori Kumagai, M. Morisawa, M. Benallegue, F. Kanehiro","doi":"10.1109/Humanoids43949.2019.9035072","DOIUrl":"https://doi.org/10.1109/Humanoids43949.2019.9035072","url":null,"abstract":"In this paper, we propose a multi-contact bipedal locomotion planning system for a humanoid robot, which can efficiently find feasible arm contacts and generate a quasistatic motion sequence supported by them. The key idea of our method is approximating the feasibility of an arm contact as its sustainability during a bipedal walking cycle, which we call “geometrical feasibility”. First, we plan a global path by RB-RRT with the reachability model and discretize it using footstep planning. In order to find sustainable contacts, we compute the intersections between the reachability volumes and environments along the planned footsteps, which are defined as contactable areas, and define contact candidates inside these intersections. Then, we prioritize possible contact sets based on their contactable areas and expected supportability. We pass these contact sets to whole-body motion planning process according to their priorities, and evaluate static equilibrium and kinematic constraints to generate quasi-static contact transitions. We apply the proposed system to four different simulation experiments, and conclude that it is a reasonable solution for the difficulty in predicting “feasible” arm contacts, which contributes to improving multi-contact capability of locomotion planning for a humanoid robot.","PeriodicalId":404758,"journal":{"name":"2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132759447","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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