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Walking on partial footholds including line contacts with the humanoid robot atlas

Georg Wiedebach, Sylvain Bertrand, Tingfan Wu, Luca Fiorio, Stephen McCrory, Robert Griffin, Francesco Nori, Jerry Pratt
2016 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)  
We applied this method to the Atlas humanoid designed by Boston Dynamics to walk over small contact surfaces, such as line and point contacts.  ...  This estimated contact area is then used by a whole body momentum-based control algorithm.  ...  CONTROL FRAMEWORK A momentum-based control framework is used to control the humanoid Atlas and is introduced in [12] .  ... 
doi:10.1109/humanoids.2016.7803439 dblp:conf/humanoids/WiedebachBWFMGN16 fatcat:rmysf4735zbz3ar7pdfcusp3iy

Whole-Body Geometric Retargeting for Humanoid Robots [article]

Kourosh Darvish, Yeshasvi Tirupachuri, Giulio Romualdi, Lorenzo Rapetti, Diego Ferigo, Francisco Javier Andrade Chavez, Daniele Pucci
2019 arXiv   pre-print
This paper presents a framework for teleoperation of humanoid robots using a novel approach for motion retargeting through inverse kinematics over the robot model.  ...  Our framework enables an intuitive and natural interaction between the human operator and the humanoid robot at the configuration space level.  ...  The robot models we considered are a) iCub humanoid robot with 32 DoFs, b) NAO humanoid robot with 24 DoFs, c) Atlas humanoid robot with 30 DoFs.  ... 
arXiv:1909.10080v1 fatcat:3mnuh5xgh5gaxc4pycwipgrb2e

Humanoids [chapter]

Paul Fitzpatrick, Kensuke Harada, Charles C. Kemp, Yoshio Matsumoto, Kazuhito Yokoi, Eiichi Yoshida
2016 Springer Handbook of Robotics  
Resolved momentum control (RMC) [67.93] is a framework for whole-body control based on the linear and angular momentum of the entire robot.  ...  The robot is regarded as a single rigid body whose linear and angular momentum is to be controlled.  ... 
doi:10.1007/978-3-319-32552-1_67 fatcat:xgkavbgzmbae7mo4wjdrmivkdu

Whole-body motion planning with centroidal dynamics and full kinematics

Hongkai Dai, Andres Valenzuela, Russ Tedrake
2014 2014 IEEE-RAS International Conference on Humanoid Robots  
We exploit the fact that while the full dynamics of humanoid robots are complicated, their centroidal dynamics (the evolution of the angular momentum and the center of mass (COM) position) are much simpler  ...  To plan dynamic, whole-body motions for robots, one conventionally faces the choice between a complex, fullbody dynamic model containing every link and actuator of the robot, or a highly simplified model  ...  We also want to express our deep gratitude to Prof. Seth Teller for his guidance of our team and his passion and vision for robotics.  ... 
doi:10.1109/humanoids.2014.7041375 dblp:conf/humanoids/DaiVT14 fatcat:uthia6hnc5aznclr3gmvfohskm

Torque-controlled stepping-strategy push recovery: Design and implementation on the iCub humanoid robot

Stefano Dafarra, Francesco Romano, Francesco Nori
2016 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)  
It proposes and implements a control strategy based on the Capture Point concept [1].  ...  A crucial requirement for legged robots is the capability to properly balance on their feet, rejecting external disturbances. iCub is a state-of-the-art humanoid robot which has only recently started to  ...  Finally in [17] the Capture Point framework has been applied to the M2V2 force-controlled lower body humanoid robot.  ... 
doi:10.1109/humanoids.2016.7803271 dblp:conf/humanoids/DafarraRN16 fatcat:fukmzfon5vakbdeh5dx6zips4u

Dynamic Balancing of Humanoid Robot Walker3 with Proprioceptive Actuation: Systematic Design of Algorithm, Software and Hardware [article]

Yan Xie, Jiajun Wang, Hao Dong, Xiaoyu Ren, Liqun Huang, Mingguo Zhao
2021 arXiv   pre-print
Dynamic balancing under uncertain disturbances is important for a humanoid robot, which requires a good capability of coordinating the entire body redundancy to execute multi tasks.  ...  Whole-body control (WBC) based on hierarchical optimization has been generally accepted and utilized in torque-controlled robots.  ...  Pratt, "Design of a momentum-based control 27 framework and application to the humanoid robot atlas," International 28 Journal of Humanoid Robotics, vol. 13, no. 01, p. 1650007, 2016. 29 [8] M.  ... 
arXiv:2108.03826v1 fatcat:uiatzsroxrawpfypz4qacl7ed4

Agile Actions with a Centaur-Type Humanoid: A Decoupled Approach [article]

Matteo Parigi Polverini, Enrico Mingo Hoffman, Arturo Laurenzi, Nikos G. Tsagarakis
2021 arXiv   pre-print
lower-body primitives, based on a template kinematic model, and online control of the upper-body motion to maintain balance.  ...  The kinematic features of a centaur-type humanoid platform, combined with a powerful actuation, enable the experimentation of a variety of agile and dynamic motions.  ...  OCP Postural Task Building upon the idea of treating the upper-body of a humanoid as a fly wheel in order to produce enough angular momentum to maintain balance, a dedicated OCP can be designed to produce  ... 
arXiv:2103.07183v1 fatcat:lzoh5znxjjfvjheaim2gwz5k4i

An Overview of Humanoid Robots Technologies [chapter]

O. Stasse, T. Flayols
2018 Springer Tracts in Advanced Robotics  
Without focusing on a specific application we consider two main classes of humanoid robots: the ones dedicated to industrial application and the ones dedicated to human-robot interaction.  ...  Choosing a humanoid robot to develop applications or pursue research in a given direction might be difficult due to the strong interdependence of the technical aspects.  ...  It is however coming at the price of a more complex control and of resonance modes specific to the robot which need to be taken into account in the mechanical design.  ... 
doi:10.1007/978-3-319-93870-7_13 fatcat:b4s7tkhpz5fr5plnld3kuu7oua

An integrated system for real-time model predictive control of humanoid robots

Tom Erez, Kendall Lowrey, Yuval Tassa, Vikash Kumar, Svetoslav Kolev, Emanuel Todorov
2013 2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids)  
Generating diverse behaviors with a humanoid robot requires a mix of human supervision and automatic control.  ...  The automatic controller is based on real-time model-predictive control (MPC) applied to the full dynamics of the robot.  ...  ACKNOWLEDGEMENTS This research was funded by DARPA and NSF.  ... 
doi:10.1109/humanoids.2013.7029990 fatcat:42pw5imk4ngvvg35facen626ry

Simulation tools for model-based robotics: Comparison of Bullet, Havok, MuJoCo, ODE and PhysX

Tom Erez, Yuval Tassa, Emanuel Todorov
2015 2015 IEEE International Conference on Robotics and Automation (ICRA)  
Overall we find that each engine performs best on the type of system it was designed and optimized for: MuJoCo wins the robotics-related tests, while the gaming engines win the gaming-related tests without  ...  It is difficult to select the best tool for a given project, or to predict how much effort will be needed and what the ultimate simulation performance will be.  ...  Humanoid: A 25-DOF humanoid model, which falls on the floor and wiggles due to sinusoidal open-loop torques applied to its joints.  ... 
doi:10.1109/icra.2015.7139807 dblp:conf/icra/ErezTT15 fatcat:x3yfo2q6gvhcbkmvna62grkr2a

Enabling Human-Robot Collaboration via Holistic Human Perception and Partner-Aware Control [article]

Yeshasvi Tirupachuri
2020 arXiv   pre-print
In particular, the challenge of a holistic perception of a human partner to continuously communicate his intentions and needs in real-time to a robot partner is crucial for the successful realization of  ...  As robotic technology advances, the barriers to the coexistence of humans and robots are slowly coming down.  ...  Thank you for believing in me and giving me an incredible opportunity to be a part of our research team.  ... 
arXiv:2004.10847v1 fatcat:2ws2uzzuwffprhf5bvebuptane

Optimization-based Full Body Control for the DARPA Robotics Challenge

Siyuan Feng, Eric Whitman, X. Xinjilefu, Christopher G. Atkeson
2015 Journal of Field Robotics  
Modeling and torque measurement errors and hardware features of the Atlas robot led us to this three-part approach, which was applied to three tasks in the  ...  We describe our full body humanoid control approach developed for the simulation phase of the DARPA Robotics Challenge (DRC), as well as the modifications made for the DARPA Robotics Challenge Trials.  ...  ACKNOWLEDGMENTS This material is based upon work supported in part by the U.S. National Science Foundation (ECCS-0824077 and IIS-0964581) and the DARPA M3 and Robotics Challenge programs.  ... 
doi:10.1002/rob.21559 fatcat:axppuofebrdslirv77q43wmqla

Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot

Scott Kuindersma, Robin Deits, Maurice Fallon, Andrés Valenzuela, Hongkai Dai, Frank Permenter, Twan Koolen, Pat Marion, Russ Tedrake
2015 Autonomous Robots  
This paper describes a collection of optimization algorithms for achieving dynamic planning, control, and state estimation for a bipedal robot designed to operate reliably in complex environments.  ...  We describe our complete system integration and experiments carried out on Atlas, a full-size hydraulic humanoid robot built by Boston Dynamics, Inc.  ...  We would like to thank the members of the Robot Locomotion Group and the MIT DRC Team for their insights and supporting contributions to this work.  ... 
doi:10.1007/s10514-015-9479-3 fatcat:qakwplqehfgvnkzgcyrjfygomi

Predictive Whole-Body Control of Humanoid Robot Locomotion [article]

Stefano Dafarra
2020 arXiv   pre-print
As a consequence, the generation of humanoid motions requires to exploit fully the mathematical model of the robot in contact with the environment or to resort to approximations of it.  ...  The reactive forces resulting from the contacts are subject to strong limitations, complicating the design of control laws.  ...  Hence, in the following we refer to this robot as IHMC Atlas. Hardware The Atlas humanoid robot, showed in Fig. 1.7 , is a hydraulically powered humanoid robot designed by Boston Dynamics ® .  ... 
arXiv:2004.07699v1 fatcat:faeujck7mvbvtkb2lznfug3p24

Benchmarking the HRP-2 Humanoid Robot During Locomotion

Olivier Stasse, Kevin Giraud--Esclasse, Edouard Brousse, Maximilien Naveau, Rémi Régnier, Guillaume Avrin, Philippe Souères
2018 Frontiers in Robotics and AI  
In this paper we report results on benchmarking a HRP-2 humanoid robot. The humanoid robots of this serie are known to be very robust.  ...  They have been successfully used by several research groups for the design of new motion generation algorithms. As such it is a reference in the category of electrically driven humanoid robot.  ...  This is a current hot topic in humanoid robotics. The Atlas humanoid robot built by Boston Dynamics has recently demonstrated its capabilities to fall down without breaking and stand up.  ... 
doi:10.3389/frobt.2018.00122 pmid:33501001 pmcid:PMC7805704 fatcat:qk62p63o6bcspnzkxjbrrhdaoq
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