Download or read book Whole Body Control for Multi Contact Balancing of Humanoid Robots written by Bernd Henze and published by Springer Nature. This book was released on 2021-11-03 with total page 209 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book aims at providing algorithms for balance control of legged, torque-controlled humanoid robots. A humanoid robot normally uses the feet for locomotion. This paradigm is extended by addressing the challenge of multi-contact balancing, which allows a humanoid robot to exploit an arbitrary number of contacts for support. Using multiple contacts increases the size of the support polygon, which in turn leads to an increased robustness of the stance and to an increased kinematic workspace of the robot. Both are important features for facilitating a transition of humanoid robots from research laboratories to real-world applications, where they are confronted with multiple challenging scenarios, such as climbing stairs and ladders, traversing debris, handling heavy loads, or working in confined spaces. The distribution of forces and torques among the multiple contacts is a challenging aspect of the problem, which arises from the closed kinematic chain given by the robot and its environment.
Download or read book Whole Body Control and Planning for Humanoid Robots written by 李泓逸 and published by . This book was released on 2012 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Motion Planning for Humanoid Robots written by Kensuke Harada and published by Springer Science & Business Media. This book was released on 2010-08-12 with total page 320 pages. Available in PDF, EPUB and Kindle. Book excerpt: Research on humanoid robots has been mostly with the aim of developing robots that can replace humans in the performance of certain tasks. Motion planning for these robots can be quite difficult, due to their complex kinematics, dynamics and environment. It is consequently one of the key research topics in humanoid robotics research and the last few years have witnessed considerable progress in the field. Motion Planning for Humanoid Robots surveys the remarkable recent advancement in both the theoretical and the practical aspects of humanoid motion planning. Various motion planning frameworks are presented in Motion Planning for Humanoid Robots, including one for skill coordination and learning, and one for manipulating and grasping tasks. The problem of planning sequences of contacts that support acyclic motion in a highly constrained environment is addressed and a motion planner that enables a humanoid robot to push an object to a desired location on a cluttered table is described. The main areas of interest include: • whole body motion planning, • task planning, • biped gait planning, and • sensor feedback for motion planning. Torque-level control of multi-contact behavior, autonomous manipulation of moving obstacles, and movement control and planning architecture are also covered. Motion Planning for Humanoid Robots will help readers to understand the current research on humanoid motion planning. It is written for industrial engineers, advanced undergraduate and postgraduate students.
Download or read book Compliant Whole body Control of Humanoid Robots written by Taizo Yoshikawa and published by . This book was released on 2019 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: A major obstacle that prevents humanoid robots from accomplishing real world tasks is their inability to physically interact with, and effectively manipulate, the most common objects generally found in human environments. Even tasks that seem simple for a human remain a significant challenge for most robots. Robots generally employ precision to perform a manipulation task. Humans, in contrast, employ compliance through tactile and force feedback to overcome their imprecision, allowing them to resolve uncertainties associated with the task. The lack of compliance and force control has been indeed a major limiting factor in the ability of robots to interact and manipulate in human environments. One of the major objectives of this research is to endow humanoid robots with whole-body compliant motion abilities. With compliance, a robot overcomes position uncertainties by moving in directions that reduce contact forces, which in turn directs it towards its goal. Whole-body framework was designed to allow the robot to compliantly interact with its environment at multiple contact points. The synthesis of compliant tasks is greatly simplified by being independent of postures and constraints, which are automatically integrated in the control hierarchy. This research focuses on the development of (I) sensor-based whole-body compliant motion primitives, (II) contact sensing and contact force control, (III) whole-body multi-contact for extended support, kneeling, crawling, leaning table, and locomotion strategy to improve support in unstructured terrains, (IV) dynamic collision-free motion planning and (V) dynamic collision-free walking path planning.
Download or read book Humanoid Robotics A Reference written by Prahlad Vadakkepat and published by Springer. This book was released on 2017-02-14 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Humanoid Robotics provides a comprehensive compilation of developments in the conceptualization, design and development of humanoid robots and related technologies. Human beings have built the environment they occupy (living spaces, instruments and vehicles) to suit two-legged systems. Building systems, especially in robotics, that are compatible with the well-established, human-based surroundings and which could naturally interact with humans is an ultimate goal for all researches and engineers. Humanoid Robots are systems (i.e. robots) which mimic human behavior. Humanoids provide a platform to study the construction of systems that behave and interact like humans. A broad range of applications ranging from daily housework to complex medical surgery, deep ocean exploration, and other potentially dangerous tasks are possible using humanoids. In addition, the study of humanoid robotics provides a platform to understand the mechanisms and offers a physical visual of how humans interact, think, and react with the surroundings and how such behaviors could be reassembled and reconstructed. Currently, the most challenging issue with bipedal humanoids is to make them balance on two legs, The purportedly simple act of finding the best balance that enables easy walking, jumping and running requires some of the most sophisticated development of robotic systems- those that will ultimately mimic fully the diversity and dexterity of human beings. Other typical human-like interactions such as complex thought and conversations on the other hand, also pose barriers for the development of humanoids because we are yet to understand fully the way in which we humans interact with our environment and consequently to replicate this in humanoids.
Download or read book Whole Body Impedance Control of Wheeled Humanoid Robots written by Alexander Dietrich and published by Springer. This book was released on 2016-07-02 with total page 196 pages. Available in PDF, EPUB and Kindle. Book excerpt: Introducing mobile humanoid robots into human environments requires the systems to physically interact and execute multiple concurrent tasks. The monograph at hand presents a whole-body torque controller for dexterous and safe robotic manipulation. This control approach enables a mobile humanoid robot to simultaneously meet several control objectives with different pre-defined levels of priority, while providing the skills for compliant physical contacts with humans and the environment. After a general introduction into the topic of whole-body control, several essential reactive tasks are developed to extend the repertoire of robotic control objectives. Additionally, the classical Cartesian impedance is extended to the case of mobile robots. All of these tasks are then combined and integrated into an overall, priority-based control law. Besides the experimental validation of the approach, the formal proof of asymptotic stability for this hierarchical controller is presented. By interconnecting the whole-body controller with an artificial intelligence, the immense potential of the integrated approach for complex real-world applications is shown. Several typical household chores, such as autonomously wiping a window or sweeping the floor with a broom, are successfully performed on the mobile humanoid robot Rollin’ Justin of the German Aerospace Center (DLR). The results suggest the presented controller for a large variety of fields of application such as service robotics, human-robot cooperation in industry, telepresence in medical applications, space robotics scenarios, and the operation of mobile robots in dangerous and hazardous environments.
Download or read book Introduction to Humanoid Robotics written by Shuuji Kajita and published by Springer. This book was released on 2014-07-15 with total page 232 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is for researchers, engineers, and students who are willing to understand how humanoid robots move and be controlled. The book starts with an overview of the humanoid robotics research history and state of the art. Then it explains the required mathematics and physics such as kinematics of multi-body system, Zero-Moment Point (ZMP) and its relationship with body motion. Biped walking control is discussed in depth, since it is one of the main interests of humanoid robotics. Various topics of the whole body motion generation are also discussed. Finally multi-body dynamics is presented to simulate the complete dynamic behavior of a humanoid robot. Throughout the book, Matlab codes are shown to test the algorithms and to help the reader ́s understanding.
Download or read book Humanoid Robots written by Dragomir N. Nenchev and published by Butterworth-Heinemann. This book was released on 2018-11-21 with total page 510 pages. Available in PDF, EPUB and Kindle. Book excerpt: Humanoid Robots: Modeling and Control provides systematic presentation of the models used in the analysis, design and control of humanoid robots. The book starts with a historical overview of the field, a summary of the current state of the art achievements and an outline of the related fields of research. It moves on to explain the theoretical foundations in terms of kinematic, kineto-static and dynamic relations. Further on, a detailed overview of biped balance control approaches is presented. Models and control algorithms for cooperative object manipulation with a multi-finger hand, a dual-arm and a multi-robot system are also discussed. One of the chapters is devoted to selected topics from the area of motion generation and control and their applications. The final chapter focuses on simulation environments, specifically on the step-by-step design of a simulator using the Matlab® environment and tools. This book will benefit readers with an advanced level of understanding of robotics, mechanics and control such as graduate students, academic and industrial researchers and professional engineers. Researchers in the related fields of multi-legged robots, biomechanics, physical therapy and physics-based computer animation of articulated figures can also benefit from the models and computational algorithms presented in the book. Provides a firm theoretical basis for modelling and control algorithm design Gives a systematic presentation of models and control algorithms Contains numerous implementation examples demonstrated with 43 video clips
Download or read book Modeling Simulation and Optimization of Bipedal Walking written by Katja Mombaur and published by Springer Science & Business Media. This book was released on 2013-02-28 with total page 289 pages. Available in PDF, EPUB and Kindle. Book excerpt: The model-based investigation of motions of anthropomorphic systems is an important interdisciplinary research topic involving specialists from many fields such as Robotics, Biomechanics, Physiology, Orthopedics, Psychology, Neurosciences, Sports, Computer Graphics and Applied Mathematics. This book presents a study of basic locomotion forms such as walking and running is of particular interest due to the high demand on dynamic coordination, actuator efficiency and balance control. Mathematical models and numerical simulation and optimization techniques are explained, in combination with experimental data, which can help to better understand the basic underlying mechanisms of these motions and to improve them. Example topics treated in this book are Modeling techniques for anthropomorphic bipedal walking systems Optimized walking motions for different objective functions Identification of objective functions from measurements Simulation and optimization approaches for humanoid robots Biologically inspired control algorithms for bipedal walking Generation and deformation of natural walking in computer graphics Imitation of human motions on humanoids Emotional body language during walking Simulation of biologically inspired actuators for bipedal walking machines Modeling and simulation techniques for the development of prostheses Functional electrical stimulation of walking.
Download or read book Learning for Adaptive and Reactive Robot Control written by Aude Billard and published by MIT Press. This book was released on 2022-02-08 with total page 425 pages. Available in PDF, EPUB and Kindle. Book excerpt: Methods by which robots can learn control laws that enable real-time reactivity using dynamical systems; with applications and exercises. This book presents a wealth of machine learning techniques to make the control of robots more flexible and safe when interacting with humans. It introduces a set of control laws that enable reactivity using dynamical systems, a widely used method for solving motion-planning problems in robotics. These control approaches can replan in milliseconds to adapt to new environmental constraints and offer safe and compliant control of forces in contact. The techniques offer theoretical advantages, including convergence to a goal, non-penetration of obstacles, and passivity. The coverage of learning begins with low-level control parameters and progresses to higher-level competencies composed of combinations of skills. Learning for Adaptive and Reactive Robot Control is designed for graduate-level courses in robotics, with chapters that proceed from fundamentals to more advanced content. Techniques covered include learning from demonstration, optimization, and reinforcement learning, and using dynamical systems in learning control laws, trajectory planning, and methods for compliant and force control . Features for teaching in each chapter: applications, which range from arm manipulators to whole-body control of humanoid robots; pencil-and-paper and programming exercises; lecture videos, slides, and MATLAB code examples available on the author’s website . an eTextbook platform website offering protected material[EPS2] for instructors including solutions.
Download or read book Whole Body Affordances for Humanoid Robots A Computational Approach written by Kaiser, Peter and published by KIT Scientific Publishing. This book was released on 2018-08-29 with total page 266 pages. Available in PDF, EPUB and Kindle. Book excerpt: The goal of this work is the development of a novel computational formalization of whole-body affordances which is suitable for the multimodal detection and validation of interaction possibilities in unknown environments. The hierarchical framework allows the consistent fusion of affordance-related evidence and can be utilized for realizing shared autonomous control of humanoid robots. The affordance formalization is evaluated in several experiments in simulation and on real humanoid robots.
Download or read book Balance Control and Locomotion Planning for Humanoid Robots Using Nonlinear Centroidal Models written by Frans Anton Koolen and published by . This book was released on 2020 with total page 151 pages. Available in PDF, EPUB and Kindle. Book excerpt: Balance control approaches for humanoid robots have traditionally relied on low-dimensional models for locomotion planning and reactive balance control. Results for the low-dimensional model are mapped to the full robot, and used as inputs to a whole-body controller. In particular, the linear inverted pendulum (LIP) has long been the de facto standard low-dimensional model used in balance control. The LIP has its limitations, however. For example, it requires that the robot's center of mass move on a plane and that the robot's contact environment be planar. This thesis presents control and planning approaches using nonlinear low-dimensional models, aimed at mitigating some of the limitations of the LIP. Specically, the contributions are: 1) a closed-form controller and region of attraction analysis for a nonlinear variable-height inverted pendulum model, 2) a trajectory optimization approach for humanoid robot locomotion over moderately complex terrain based on mixed-integer nonlinear programming with a low-dimensional model, and 3) a quadratic-programming based controller that uses the the results from these low-dimensional models to control a simulation model of the Atlas humanoid robot.
Download or read book Introduction to Humanoid Robotics written by Shuuji Kajita and published by Springer. This book was released on 2016-09-17 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is for researchers, engineers, and students who are willing to understand how humanoid robots move and be controlled. The book starts with an overview of the humanoid robotics research history and state of the art. Then it explains the required mathematics and physics such as kinematics of multi-body system, Zero-Moment Point (ZMP) and its relationship with body motion. Biped walking control is discussed in depth, since it is one of the main interests of humanoid robotics. Various topics of the whole body motion generation are also discussed. Finally multi-body dynamics is presented to simulate the complete dynamic behavior of a humanoid robot. Throughout the book, Matlab codes are shown to test the algorithms and to help the reader ́s understanding.
Download or read book A Planning and Control Framework for Humanoid Systems written by Ye Zhao and published by . This book was released on 2016 with total page 560 pages. Available in PDF, EPUB and Kindle. Book excerpt: Humanoid robots are increasingly demanded to operate in interactive and human-surrounded environments while achieving sophisticated locomotion and manipulation tasks. To accomplish these tasks, roboticists unremittingly seek for advanced methods that generate whole-body coordination behaviors and meanwhile fulfill various planning and control objectives. Undoubtedly, these goals pose fundamental challenges to the robotics and control community. To take an incremental step towards reducing the performance gap between theoretical foundations and real implementations, we present a planning and control framework for the humanoid, especially legged robots, for achieving high performance and generating agile motions. A particular concentration is on the robust, optimal and real-time performance. This framework constitutes three hierarchical layers, which are presented from the following perspectives. First, we present a robust optimal phase-space planning framework for dynamic legged locomotion over rough terrain. This framework is a hybrid motion planner incorporating a series of pivotal components. Via centroidal momentum dynamics, we define a new class of locomotion phase-space manifolds, as a Riemannian distance metric, and propose a robust optimal controller to recover from external disturbances at runtime. The agility and robustness capabilities of our proposed framework are illustrated in (i) simulations of dynamic maneuvers over diverse challenging terrains and under external disturbances; (ii) experimental implementations on our point-feet bipedal robot. Second, we take a step toward formally synthesizing high-level reactive planners for whole-body locomotion in constrained environments. We formulate a two-player temporal logic game between the contact planner and its possibly-adversarial environment. The resulting discrete planner satisfies the given task specifications expressed as a fragment of temporal logic. The provable correctness of the low-level execution of the synthesized discrete planner is guaranteed through the so-called simulation relations. We conjecture that this theoretical advance has the potential to act as an entry point for the humanoid community to employ formal methods for the planner verification and synthesis. Third, we propose a distributed control architecture for the latency-prone humanoid robotic systems. A central experimental phenomenon is observed that the stability of high impedance distributed controllers is highly sensitive to damping feedback delay but much less to stiffness feedback delay. We pursue a detailed analysis of the distributed controllers where damping feedback effort is executed in proximity to the control plant, and stiffness feedback effort is implemented in a latency-prone centralized control process. Critically-damped gain selection criteria are designed for not only rigid but also series elastic actuators (SEAs). In particular, we devise a novel impedance performance metric, defined as “Z-region”, simultaneously quantifying the achievable SEA impedance magnitude and frequency ranges. Finally, this distributed control strategy is generalized to the time-delayed Whole-Body Operational Space Control with SEA dynamics. To ensure passivity, we separate the overall closed-loop system into two subsystems interconnected in a feedback configuration. By designing Lyapunov-Krasovskii functionals, we propose a delay-dependent passivity criterion of the closed-loop system in the form of linear matrix inequalities (LMIs), and solve for the allowable maximum time delays via the passivity criterion. The proposed distributed control strategy is validated through extensive experimental implementations on UT rigid and series elastic actuators, an omnidirectional mobile base Trikey and a SEA-equipped bipedal robot Hume.
Download or read book Modern Robotics written by Kevin M. Lynch and published by Cambridge University Press. This book was released on 2017-05-25 with total page 545 pages. Available in PDF, EPUB and Kindle. Book excerpt: A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.
Download or read book Motion Planning and Perception written by Alireza Nakhaei and published by . This book was released on 2009 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis starts by proposing a new framework for motion planning using stochastic maps, such as occupancy-grid maps. In autonomous robotics applications, the robot's map of the environment is typically constructed online, using techniques from SLAM. These methods can construct a dense map of the environment, or a sparse map that contains a set of identifiable landmarks. In this situation, path planning would be performed using the dense map, and the path would be executed in a sensor-based fashion, using feedback control to track the reference path based on sensor information regarding landmark position. Maximum-likelihood estimation techniques are used to model the sensing process as well as to estimate the most likely nominal path that will be followed by the robot during execution of the plan. The proposed approach is potentially a practical way to plan under the specific sorts of uncertainty confronted by a humanoid robot. The next chapter, presents methods for constructing free paths in dynamic environments. The chapter begins with a comprehensive review of past methods, ranging from modifying sampling-based methods for the dynamic obstacle problem, to methods that were specifically designed for this problem. The thesis proposes to adapt a method reported originally by Leven et al.. so that it can be used to plan paths for humanoid robots in dynamic environments. The basic idea of this method is to construct a mapping from voxels in a discretized representation of the workspace to vertices and arcs in a configuration space network built using sampling-based planning methods. When an obstacle intersects a voxel in the workspace, the corresponding nodes and arcs in the configuration space roadmap are marked as invalid. The part of the network that remains comprises the set of valid candidate paths. The specific approach described here extends previous work by imposing a two-level hierarchical structure on the representation of the workspace. The methods described in Chapters 2 and 3 essentially deal with low-dimensional problems (e.g., moving a bounding box). The reduction in dimensionality is essential, since the path planning problem confronted in these chapters is complicated by uncertainty and dynamic obstacles, respectively. Chapter 4 addresses the problem of planning the full motion of a humanoid robot (whole-body task planning). The approach presented here is essentially a four-step approach. First, multiple viable goal configurations are generated using a local task solver, and these are used in a classical path planning approach with one initial condition and multiple goals. This classical problem is solved using an RRT-based method. Once a path is found, optimization methods are applied to the goal posture. Finally, classic path optimization algorithms are applied to the solution path and posture optimization. The fifth chapter describes algorithms for building a representation of the environment using stereo vision as the sensing modality. Such algorithms are necessary components of the autonomous system proposed in the first chapter of the thesis. A simple occupancy-grid based method is proposed, in which each voxel in the grid is assigned a number indicating the probability that it is occupied. The representation is updated during execution based on values received from the sensing system. The sensor model used is a simple Gaussian observation model in which measured distance is assumed to be true distance plus additive Gaussian noise. Sequential Bayes updating is then used to incrementally update occupancy values as new measurements are received. Finally, chapter 6 provides some details about the overall system architecture, and in particular, about those components of the architecture that have been taken from existing software (and therefore, do not themselves represent contributions of the thesis). Several software systems are described, including GIK, WorldModelGrid3D, HppDynamicObstacle, and GenoM.
Download or read book Human Inspired Balancing and Recovery Stepping for Humanoid Robots written by Kaul, Lukas Sebastian and published by KIT Scientific Publishing. This book was released on 2019-05-15 with total page 258 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robustly maintaining balance on two legs is an important challenge for humanoid robots. The work presented in this book represents a contribution to this area. It investigates efficient methods for the decision-making from internal sensors about whether and where to step, several improvements to efficient whole-body postural balancing methods, and proposes and evaluates a novel method for efficient recovery step generation, leveraging human examples and simulation-based reinforcement learning.
