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Whole body motion control of humanoid robots using bilateral control

Emre SARIYILDIZ, Hakan TEMELTAŞ
2017 Turkish Journal of Electrical Engineering and Computer Sciences  
It is shown that more dexterous and versatile tasks can be easily performed by transforming the skills of humans to humanoid robots in the proposed bilateral control system.  ...  This paper deals with whole body motion control problem of humanoid robots by using automatic and bilateral control methods.  ...  A bilateral controller is proposed for humanoid robots so as to perform dexterous and versatile tasks by transforming humans' skills to robots.  ... 
doi:10.3906/elk-1503-207 fatcat:3tdlud5gf5bthd4wneci52pgce

Automatic differentiation of rigid body dynamics for optimal control and estimation

Markus Giftthaler, Michael Neunert, Markus Stäuble, Marco Frigerio, Claudio Semini, Jonas Buchli
2017 Advanced Robotics  
Many algorithms for control, optimization and estimation in robotics depend on derivatives of the underlying system dynamics, e.g. to compute linearizations, sensitivities or gradient directions.  ...  First, we show a Trajectory Optimization example for the quadrupedal robot HyQ, which employs auto-differentiation on the dynamics including a contact model.  ...  As an example, the Auto-Diff compatible RobCoGen output for the quadruped HyQ as well as all derivative timing and accuracy tests are available at [33] and https:// bitbucket.org/adrlab/hyq_gen_ad.  ... 
doi:10.1080/01691864.2017.1395361 fatcat:33hdymegc5cqdaw3tzydyvstge

From multi-modal tactile signals to a compliant control

Emmanuel Dean-Leon, Florian Bergner, Karinne Ramirez-Amaro, Gordon Cheng
2016 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)  
In this paper, we present an end-to-end approach transforming multi-modal tactile signals into a compliant control to generate different dynamic robot behaviors.  ...  One advantage of these compliant behaviors is to produce safer robots, especially for physical Human-Robot Interaction.  ...  Moreover, the general integration of sensor components and controls is not a trivial task and is usually customized for a specific robot.  ... 
doi:10.1109/humanoids.2016.7803378 dblp:conf/humanoids/Dean-LeonBRC16 fatcat:h53mbxqvxnhg5f63exkoflf7pu

The control toolbox — An open-source C++ library for robotics, optimal and model predictive control

Markus Giftthaler, Michael Neunert, Markus Stauble, Jonas Buchli
2018 2018 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)  
We provide interfaces to general purpose NLP solvers and Riccati-based linear-quadratic optimal control solvers.  ...  The CT is applicable to a broad class of dynamic systems but features interfaces to modeling tools specifically designed for robotic applications.  ...  We gratefully acknowledge the contributions of our current and former colleagues Farbod Farshidian, Diego Pardo, Timothy Sandy, Jan Carius and Hamza Merzic. XI.  ... 
doi:10.1109/simpar.2018.8376281 dblp:conf/simpar/GiftthalerNSB18 fatcat:vqnjgmsavzd3rhllz5vyeusrbq

A review on modeling, identification and servo control of robotic excavator

Yan Jun, Li Bo, Zeng Yonghua, Qian Haibo
2018 International Journal of Engineering, Science and Technology  
Then, methods for identification of the established models are discussed. Finally, robust position control and compliance control of the robotic excavator are investigated.  ...  Robotic excavator is a hydraulic actuated 4 DOF manipulator mounted on a mobile chassis which implements automatic excavations.  ...  Also, a robotic excavator is expected to work in lunar and planetary construction sites (Singh, 1997) . For automatic control, reconfiguration of excavator's control system is necessary.  ... 
doi:10.4314/ijest.v5i4.2 fatcat:ovzvfnslsvh2zg5ld2zmiyyo3u

Control of Redundant Submarine Robot Arms under Holonomic Constraints [chapter]

E. Olgun-Daz, V. Parra-Vega, D. Navarro-Alarc
2008 Robotics Automation and Control  
However, when the RA is working out its task, it is convenient to automatically control the whole AUV+RA, coined in this paper as Submarine Robot Arm or SRA for short, as a whole and unique system so as  ...  , it does not deal with the task of contact force control.  ...  new ideas from academia, industry, research and practice in the fields of robotics, automation and control.  ... 
doi:10.5772/5845 fatcat:b34h3toeh5h6tcyw25bxieyxzq

Toward automatic robot programming: learning human skill from visual data

M. Yeasin, S. Chaudhuri
2000 IEEE Transactions on Systems Man and Cybernetics Part B (Cybernetics)  
Iswandhi, "Adaptive locomotion of a multilegged robot over rough terrain," IEEE Trans. of a distributed neural network controller for locomotion in a hexapod robot," IEEE Trans.  ...  Energy based stabi measures for reliable locomotion of statically stable walkers: Theory and application," Int.  ...  We view automatic robot programming as a transformation that translates a task to be performed by a robot manipulator to manipulator level commands executable by a robot controller.  ... 
doi:10.1109/3477.826958 pmid:18244740 fatcat:wp3xm6hssnb4blookfhkfozrj4

A Comprehensive Realization of Robot Skin: Sensors, Sensing, Control, and Applications

Gordon Cheng, Emmanuel Dean-Leon, Florian Bergner, Julio Rogelio Guadarrama Olvera, Quentin Leboutet, Philipp Mittendorfer
2019 Proceedings of the IEEE  
A general control framework, which supports robots commanded in position, velocity, and torque, is provided and validated.  ...  | This article presents a holistic approach to the engineering of an artificial robot skin for robots.  ...  The second method that we implemented in our general framework is based on a stack of tasks.  ... 
doi:10.1109/jproc.2019.2933348 fatcat:4vrd6jymqrdtpnywrpyzbsgz5q

Inverse Dynamics Control with Floating Base and Constraints

Jun Nakanishi, Michael Mistry, Stefan Schaal
2007 Engineering of Complex Computer Systems (ICECCS), Proceedings of the IEEE International Conference on  
In this paper, we address the issues of compliant control of a robot under contact constraints with a goal of using joint space based pattern generators as movement primitives, as often considered in the  ...  The goal of this paper is to develop a general and computationally efficient inverse dynamics algorithm for a robot with a free floating base and constraints.  ...  Roy Featherstone for clarifications of spatial algebra.  ... 
doi:10.1109/robot.2007.363606 dblp:conf/icra/NakanishiMS07 fatcat:epx5cw4qarfdheooigqwzoi5gm

Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds

Michael Neunert, Markus Stauble, Markus Giftthaler, Carmine D. Bellicoso, Jan Carius, Christian Gehring, Marco Hutter, Jonas Buchli
2018 IEEE Robotics and Automation Letters  
In this work we present a whole-body Nonlinear Model Predictive Control approach for Rigid Body Systems subject to contacts.  ...  Yet, thorough numerical and software engineering allows for running the nonlinear Optimal Control solver at rates up to 190 Hz on a quadruped for a time horizon of half a second.  ...  ACKNOWLEDGMENT We wish to thank the entire SYSCOP group at IMTEK at the University of Freiburg, especially Prof.  ... 
doi:10.1109/lra.2018.2800124 fatcat:7yfgd25tivcv3nysquhq3zrjze

Interactive Force Control Based on Multimodal Robot Skin for Physical Human−Robot Collaboration

Simon Armleder, Emmanuel Dean-Leon, Florian Bergner, Gordon Cheng
2021 Advanced Intelligent Systems  
The implemented robot tasks for simultaneous real-time HRC are as follows: 1) skin-based force/distance control at the surface of an object, 2) compliant wrist control that can maintain the surface contact  ...  An open question is how to automatically initialize and adapt the various control parameters based on a given robot, an environment, and a task.  ...  Conflict of Interest The authors declare no conflict of interest. Data Availability Statement Research data are not shared.  ... 
doi:10.1002/aisy.202100047 fatcat:tjnbwiqdqzbi7mkilcjdvoeb6m

CAD-based robot programming: The role of Fuzzy-PI force control in unstructured environments

Pedro Neto, Nuno Mendes, J. Norberto Pires, A. Paulo Moreira
2010 2010 IEEE International Conference on Automation Science and Engineering  
In this paper is presented a CAD-based system that allows users with basic skills in CAD and without skills in robot programming to generate robot programs from a CAD model of a robotic cell.  ...  By controlling the end-effector pose and specifying its relationship to the interaction/contact forces, robot programmers can ensure that the robot maneuvers in an unstructured environment, damping possible  ...  Force Control for Robotic Systems: an Overview Many robot tasks require contact with the surrounding environment of the robot, i.e., in the process of fulfilling the task the robot tool interacts physically  ... 
doi:10.1109/coase.2010.5584058 dblp:conf/case/NetoMPM10 fatcat:4ymgdtl6tfbl7pzmriinvjgy2q

An Enhanced Robot Massage System in Smart Homes Using Force Sensing and a Dynamic Movement Primitive

Chunxu Li, Ashraf Fahmy, Shaoxiang Li, Johann Sienz
2020 Frontiers in Neurorobotics  
Then a hybrid position/force controller is integrated to track the desired trajectory in the task space while considering the safety of human-robot interaction.  ...  In this paper, a novel force-sensing- and robotic learning algorithm-based teaching interface for robot massaging has been proposed.  ...  collision contact control; 4. the engineering implementation of robotic force/ position control.  ... 
doi:10.3389/fnbot.2020.00030 pmid:32714174 pmcid:PMC7344303 fatcat:wnfxu4jhzjf65b3e5ygke3fxt4

Active compliant motion: a survey

Tine Lefebvre, Jing Xiao, Herman Bruyninckx, Gudrun de Gersem
2005 Advanced Robotics  
PCs and contact formations and devised an approach based on contact constraint relaxation to generate contact state graphs in terms of contact states and their adjacency relations automatically.  ...  Automatic generation of contact state graphs are made easier with the representation of contact states in terms of PCs.  ...  [56] extended the approach for automatic generation of a contact state graph between arbitrary polyhedra [5] by considering that one of the polyhedra was held by a robot manipulator.  ... 
doi:10.1163/156855305323383767 fatcat:2nt6uwkisvdtfkcvhlohesi36q

Interactive design of expressive locomotion controllers for humanoid robots

Sebastien Dalibard, Daniel Thalmann, Nadia Magnenat-Thalmann
2012 2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication  
This paper presents an interactive dynamic controller used to generate locomotion patterns for humanoid robots.  ...  We have used our controller on a model of the Aldebaran humanoid robot Nao, and have generated a few expressive locomotion patterns that are presented in the experimental section of this paper.  ...  kind of feature tasks: • 6D (position, rotation) transformation task on points of the robot, for example for foot transformations; • 2D parallel task, to keep a vector associated with a robot body parallel  ... 
doi:10.1109/roman.2012.6343790 dblp:conf/ro-man/DalibardTM12 fatcat:gtbtkl5fwjfhpoidt35ryy36la
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