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Template-based manipulation in unstructured environments for supervised semi-autonomous humanoid robots

Alberto Romay, Stefan Kohlbrecher, David C. Conner, Alexander Stumpf, Oskar von Stryk
<span title="">2014</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/p2nw3ufilvbknotfq56xtvnhtq" style="color: black;">2014 IEEE-RAS International Conference on Humanoid Robots</a> </i> &nbsp;
A template based manipulation approach has been successfully applied to the Atlas humanoid robot; we show real world footage of the results obtained in the DARPA Robotics Challenge Trials 2013.  ...  Humanoid robotic manipulation in unstructured environments is a challenging problem.  ...  ACKNOWLEDGMENT The authors would like to thank all members of Team ViGIR, their contribution and support enabled the realization  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/humanoids.2014.7041482">doi:10.1109/humanoids.2014.7041482</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/humanoids/RomayKCSS14.html">dblp:conf/humanoids/RomayKCSS14</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/3s3jhwoojbeirninlxdeiayqom">fatcat:3s3jhwoojbeirninlxdeiayqom</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170705130508/http://www.sim.informatik.tu-darmstadt.de/publ/download/2014_RomayEtAl_Humanoids.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/56/89/5689b4284cb80e5270a2f81c1c2a61781255902a.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/humanoids.2014.7041482"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Growing the Humanoid Robotics Community [TC Spotlight]

Ludovic Righetti, Tomomichi Sugihara, Giorgio Metta, Katsu Yamane
<span title="">2019</span> <i title="Institute of Electrical and Electronics Engineers (IEEE)"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/x6agkd37nzhfjbzh3ujapu7ovm" style="color: black;">IEEE robotics &amp; automation magazine</a> </i> &nbsp;
(c) The collaborative humanoid robot ARMAR-6 helps to manipulate a heavy panel. (Source: Karlsruhe Institute of Technology, Germany; used with permission.)  ...  The IEEE Robotics and Automation Society (RAS) Technical Committee (TC) for Humanoid Robotics was estab lished in 2005 with the mission of sup porting advances in the science and engineering of humanoid  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/mra.2019.2945740">doi:10.1109/mra.2019.2945740</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/x7gvhqfgy5gpboc35wbjayms4i">fatcat:x7gvhqfgy5gpboc35wbjayms4i</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20201108162320/https://ieeexplore.ieee.org/ielx7/100/8930893/08930906.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/8b/94/8b942d1e048d5cfbb82834e5ee3564c38ec17912.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/mra.2019.2945740"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

No falls, no resets: Reliable humanoid behavior in the DARPA robotics challenge

C. G. Atkeson, B. P. W. Babu, N. Banerjee, D. Berenson, C. P. Bove, X. Cui, M. DeDonato, R. Du, S. Feng, P. Franklin, M. Gennert, J. P. Graff (+11 others)
<span title="">2015</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/p2nw3ufilvbknotfq56xtvnhtq" style="color: black;">2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)</a> </i> &nbsp;
We describe Team WPI-CMU's approach to the DARPA Robotics Challenge (DRC), focusing on our strategy to avoid failures that required physical human intervention.  ...  We also had the most consistent pair of runs. Much of the paper discusses lessons learned from the DRC.  ...  We expected bipedal robots to have trouble in the DRC. We used an Atlas humanoid robot built by Boston Dynamics.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/humanoids.2015.7363436">doi:10.1109/humanoids.2015.7363436</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/humanoids/AtkesonBBBBCDDF15.html">dblp:conf/humanoids/AtkesonBBBBCDDF15</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/a3ngxnyf2fhedoy5swwhq3w544">fatcat:a3ngxnyf2fhedoy5swwhq3w544</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170809063515/http://www.nandanbanerjee.com/files/no_falls_no_resets.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/34/8c/348c711f19a70591e3f634efa1df27831362ea1a.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/humanoids.2015.7363436"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Historical Developments of BHR Humanoid Robots

Qiang Huang, Zhangguo Yu, Xuechao Chen, Weimin Zhang, Tianqi Yang, Wenxi Liao, Macro Ceccarelli
<span title="">2019</span> <i title="Scientific Research Publishing, Inc,"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/l7i7ozrmy5crlavkzt52fargm4" style="color: black;">Advances in Historical Studies</a> </i> &nbsp;
The latest humanoid robot, BHR-6P, can achieve multi-mode motions (for example, walk, jump, fall protection, crawl and roll), which will significantly improve the ability of robot to adapt to the environment  ...  To boost the development of humanoid robot technology, a team at Beijing Institute of Technology initiated the research on humanoid robots from 2000.  ...  The authors declare no conflicts of interest regarding the publication of this paper.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.4236/ahs.2019.81005">doi:10.4236/ahs.2019.81005</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/t4jaqdk4rfcczbbevhdosgxedy">fatcat:t4jaqdk4rfcczbbevhdosgxedy</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200215233111/https://www.scirp.org/pdf/AHS_2019031915255273.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/bd/9d/bd9dea5a7c9c1fa1999016f46082c999572800e7.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.4236/ahs.2019.81005"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> Publisher / doi.org </button> </a>

Special issue on whole-body control of contacts and dynamics for humanoid robots

Serena Ivaldi, Jan Babič, Michael Mistry, Robin Murphy
<span title="2016-01-27">2016</span> <i title="Springer Nature"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/jmjdfeig5rayzgfuauvumileza" style="color: black;">Autonomous Robots</a> </i> &nbsp;
Sometimes, like when reaching for a distant object or standing inside a moving bus that suddenly brakes, humans plan intentionally new contacts to preserve their balance and avoid falling.  ...  Whether you are walking on a concrete floor, standing on a carpet, or sitting on a soft chair, your entire body continuously controls the posture and the contact forces that are produced by acting on rigid  ...  Michael Mistry is a Senior Lecturer in Robotics at the School of Computer Science, University of Birmingham, where he is also a member of the Intelligent Robotics Lab and the Centre for Computational Neuroscience  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1007/s10514-016-9545-5">doi:10.1007/s10514-016-9545-5</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/svbsz5d5obe5fossx6fkymb57a">fatcat:svbsz5d5obe5fossx6fkymb57a</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170924180731/https://hal.archives-ouvertes.fr/hal-01258282/document" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/b2/5e/b25e772febd8c5d3a35cfc38840517ffad42835e.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1007/s10514-016-9545-5"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> springer.com </button> </a>

A Comprehensive Software Framework for Complex Locomotion and Manipulation Tasks Applicable to Different Types of Humanoid Robots

Stefan Kohlbrecher, Alexander Stumpf, Alberto Romay, Philipp Schillinger, Oskar von Stryk, David C. Conner
<span title="2016-06-07">2016</span> <i title="Frontiers Media SA"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/t4zwwbshrrfd3hjbg4s3bysm7q" style="color: black;">Frontiers in Robotics and AI</a> </i> &nbsp;
It provides newcomers as well as experienced researchers in humanoid robotics a comprehensive system comprising open source packages for locomotion, manipulation, perception, world modeling, behavior control  ...  In this paper, a software framework for humanoid disaster response robots is introduced.  ...  With early versions of the Atlas robot, this was a severe issue, as the volume of good manipulability for the arms was outside the Multisense sensor field of view.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.3389/frobt.2016.00031">doi:10.3389/frobt.2016.00031</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/4wjx7zaoaffpliak4iilu4cowe">fatcat:4wjx7zaoaffpliak4iilu4cowe</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20171006053417/http://publisher-connector.core.ac.uk/resourcesync/data/Frontiers/pdf/107/aHR0cDovL2pvdXJuYWwuZnJvbnRpZXJzaW4ub3JnL2FydGljbGUvMTAuMzM4OS9mcm9idC4yMDE2LjAwMDMxL3BkZg%3D%3D.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/7b/28/7b28165fa9be195129135e3efd1ef200f52efb72.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.3389/frobt.2016.00031"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> frontiersin.org </button> </a>

Scaling Sampling-based Motion Planning to Humanoid Robots [article]

Yiming Yang, Vladimir Ivan, Wolfgang Merkt, Sethu Vijayakumar
<span title="2016-07-29">2016</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
This allows us to find suitable algorithms for solving humanoid motion planning problems, and to identify the limitations of these algorithms.  ...  Planning balanced and collision-free motion for humanoid robots is non-trivial, especially when they are operated in complex environments, such as reaching targets behind obstacles or through narrow passages  ...  problems for humanoid robots.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1607.07470v2">arXiv:1607.07470v2</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/moijwejdbjandhjj664qgxk3fm">fatcat:moijwejdbjandhjj664qgxk3fm</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200913204845/https://arxiv.org/pdf/1607.07470v2.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/ea/aa/eaaabef2fcd21c0f1525ac42e41b182019ce6fd2.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1607.07470v2" title="arxiv.org access"> <button class="ui compact blue labeled icon button serp-button"> <i class="file alternate outline icon"></i> arxiv.org </button> </a>

TALOS: A new humanoid research platform targeted for industrial applications

O. Stasse, T. Flayols, R. Budhiraja, K. Giraud-Esclasse, J. Carpentier, J. Mirabel, A. Del Prete, P. Soueres, N. Mansard, F. Lamiraux, J.-P. Laumond, L. Marchionni (+2 others)
<span title="">2017</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/p2nw3ufilvbknotfq56xtvnhtq" style="color: black;">2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)</a> </i> &nbsp;
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.  ...  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.  ...  ACKNOWLEDGMENT This work was partially supported by the ERC-ADG 340050 Actanthrope, Project Flag-Era JTC 2016 Robo-Com++ and the CNRS Institute INSII.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/humanoids.2017.8246947">doi:10.1109/humanoids.2017.8246947</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/humanoids/StasseFBGCMPSML17.html">dblp:conf/humanoids/StasseFBGCMPSML17</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/lkl7pdi4qbez5nnaiwiykrjivi">fatcat:lkl7pdi4qbez5nnaiwiykrjivi</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20180725164312/https://hal.archives-ouvertes.fr/hal-01485519v2/document" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/45/87/45870725fa7b4a67e612cb7ceda54e69bead916f.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/humanoids.2017.8246947"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Scaling sampling-based motion planning to humanoid robots

Yiming Yang, Vladimir Ivan, Wolfgang Merkt, Sethu Vijayakumar
<span title="">2016</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/vhg5emjesjdv5lf57jbeunhgqa" style="color: black;">2016 IEEE International Conference on Robotics and Biomimetics (ROBIO)</a> </i> &nbsp;
This allows us to find suitable algorithms for solving humanoid motion planning problems, and to identify the limitations of these algorithms. All authors are with School  ...  Planning balanced and collision-free motion for humanoid robots is non-trivial, especially when they are operated in complex environments, such as reaching targets behind obstacles or through narrow passages  ...  problems for humanoid robots.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/robio.2016.7866531">doi:10.1109/robio.2016.7866531</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/robio/YangIMV16.html">dblp:conf/robio/YangIMV16</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/yftbbngmcjbz3dfhg32ci5kus4">fatcat:yftbbngmcjbz3dfhg32ci5kus4</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20180722074739/https://www.pure.ed.ac.uk/ws/files/28391029/1607.07470v2.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/9b/4f/9b4f3be897d26829d0724c0e619368a8304a5eda.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/robio.2016.7866531"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

A summary of team MIT's approach to the virtual robotics challenge

R. Tedrake, M. Fallon, S. Karumanchi, S. Kuindersma, M. Antone, T. Schneider, T. Howard, M. Walter, H. Dai, R. Deits, M. Fleder, D. Fourie (+14 others)
<span title="">2014</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/nytnrt3gtzbixld5r6a4talbky" style="color: black;">2014 IEEE International Conference on Robotics and Automation (ICRA)</a> </i> &nbsp;
The VRC required teams to guide a model of Boston Dynamics' humanoid robot, Atlas, through driving, walking, and manipulation tasks in simulation.  ...  The operator could then request manipulation plans to reach for, grasp, or move the object.  ...  The VRC required teams to guide a model of Boston Dynamics' humanoid robot, Atlas, through driving, walking, and manipulation tasks in simulation.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/icra.2014.6907140">doi:10.1109/icra.2014.6907140</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/icra/TedrakeFKKASHWDDFFHHIPPVCDEJKSIT14.html">dblp:conf/icra/TedrakeFKKASHWDDFFHHIPPVCDEJKSIT14</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/pgdgaztfnvfddnrj3bcg2wsspi">fatcat:pgdgaztfnvfddnrj3bcg2wsspi</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170922220008/http://drc.mit.edu/docs/2014_icra_tedrake.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/47/50/47500adb003887bb04d4c2585a81738324ff46ac.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/icra.2014.6907140"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Human-supervised control of the ATLAS humanoid robot for traversing doors

Nandan Banerjee, Xianchao Long, Ruixiang Du, Felipe Polido, Siyuan Feng, Christopher G. Atkeson, Michael Gennert, Taskin Padir
<span title="">2015</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/p2nw3ufilvbknotfq56xtvnhtq" style="color: black;">2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)</a> </i> &nbsp;
Door traversal is generally a trivial task for human beings but particularly challenging for humanoid robots.  ...  This paper describes a holistic approach for a full-sized humanoid robot to traverse through a door in an outdoor unstructured environment as specified by the requirements of the DARPA Robotics Challenge  ...  We also thank Perry Franklin, Benzun Babu and the lab team for their support.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/humanoids.2015.7363442">doi:10.1109/humanoids.2015.7363442</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/humanoids/BanerjeeLDPFAGP15.html">dblp:conf/humanoids/BanerjeeLDPFAGP15</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/jvlrw2c7szcpdmzjt35ghm457q">fatcat:jvlrw2c7szcpdmzjt35ghm457q</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170814073948/http://www.cs.cmu.edu/~cga/drc/door-submitted.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/d2/44/d244627be2f09f9e28f1b09191a36f86b7d02d81.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/humanoids.2015.7363442"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

TRAC-IK: An open-source library for improved solving of generic inverse kinematics

Patrick Beeson, Barrett Ames
<span title="">2015</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/p2nw3ufilvbknotfq56xtvnhtq" style="color: black;">2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)</a> </i> &nbsp;
In order to find a better IK solver for generic manipulator chains, a variety of open-source, drop-in alternatives have been implemented and evaluated for this paper.  ...  The best alternative IK implementation finds solutions much more often than KDL, is faster on average than KDL for typical manipulation chains, and (when desired) allows tolerances on each Cartesian dimension  ...  ACKNOWLEDGMENT The authors would like to thank Seth Gee and Stephen Hart for their help in creating the simulation setup and video described in Section V.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/humanoids.2015.7363472">doi:10.1109/humanoids.2015.7363472</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/humanoids/BeesonA15.html">dblp:conf/humanoids/BeesonA15</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/6onpzmwtxfbsrmh62aqi7jtxou">fatcat:6onpzmwtxfbsrmh62aqi7jtxou</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20160314162506/https://www.researchgate.net/profile/Barrett_Ames/publication/282852814_TRAC-IK_An_Open-Source_Library_for_Improved_Solving_of_Generic_Inverse_Kinematics/links/5643a5fd08ae451880a358f8.pdf?inViewer=0&amp;pdfJsDownload=0&amp;origin=publication_detail" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/61/2f/612f56314d75f5e1b0001fa7c2af9f4ddb5193e5.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/humanoids.2015.7363472"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Overview of team ViGIR's approach to the Virtual Robotics Challenge

Stefan Kohlbrecher, David C. Conner, Alberto Romay, Felipe Bacim, Doug A. Bowman, Oskar von Stryk
<span title="">2013</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/5rse3oplczbubbqssedrvbyk3m" style="color: black;">2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)</a> </i> &nbsp;
In this paper, we briefly summarize the approach for addressing the Virtual Robotics Challenge (VRC) where software for control and supervision of a capable humanoid robot must be developed.  ...  thereby advancing to the next round of the DRC and obtaining an Atlas robot.  ...  ACKNOWLEDGMENT The authors would like to thank all team members who contributed and continue to contribute to the success of the team: Tony Angell, Florian Berz, Lindsay Blassic, Thorsten Graber, Jesse  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/ssrr.2013.6719382">doi:10.1109/ssrr.2013.6719382</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/ssrr/KohlbrecherCRBBS13.html">dblp:conf/ssrr/KohlbrecherCRBBS13</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/n3aafe3tw5dslkvimhxhbb4u7m">fatcat:n3aafe3tw5dslkvimhxhbb4u7m</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170705130408/http://www.sim.informatik.tu-darmstadt.de/publ/download/2013-IEEE-SSRR_ViGIR_VRC.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/ab/e4/abe4d44366432f2829083a7e05eb8132c230b481.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/ssrr.2013.6719382"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Achieving versatile manipulation tasks with unknown objects by supervised humanoid robots based on object templates

Alberto Romay, Stefan Kohlbrecher, David C. Conner, Oskar von Stryk
<span title="">2015</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/p2nw3ufilvbknotfq56xtvnhtq" style="color: black;">2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)</a> </i> &nbsp;
For an Atlas humanoid robot it is demonstrated how using a small set of such object templates with well defined affordances can be used to solve manipulation tasks using new unknown objects.  ...  For this purpose, the robot must be enabled to use any object it can find in the environment as tool for achieving its current manipulation task.  ...  Bowman of Virginia Tech for their work in the operator interface design and development and Dr.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/humanoids.2015.7363543">doi:10.1109/humanoids.2015.7363543</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/humanoids/RomayKCS15.html">dblp:conf/humanoids/RomayKCS15</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/fubnnrpav5dr7hqsfee3wvjo4i">fatcat:fubnnrpav5dr7hqsfee3wvjo4i</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170705130611/http://www.sim.informatik.tu-darmstadt.de/publ/download/2015_RomayEtAl_Humanoids.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/c5/33/c533c16126b51599892be722539cea536ee8349f.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/humanoids.2015.7363543"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Center of mass estimator for humanoids and its application in modelling error compensation, fall detection and prevention

X. Xinjilefu, Siyuan Feng, Christopher G. Atkeson
<span title="">2015</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/p2nw3ufilvbknotfq56xtvnhtq" style="color: black;">2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)</a> </i> &nbsp;
The center of mass estimator is implemented on our Atlas humanoid robot.  ...  We introduce a center of mass estimator, and its application in full body inverse dynamics control, fall detection and fall prevention for humanoid robots.  ...  For the Atlas robot, Boston Dynamics provides both the kinematic and the dynamic parameters. The kinematic model is useful for manipulation tasks and foot placement during walking.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/humanoids.2015.7363533">doi:10.1109/humanoids.2015.7363533</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/humanoids/XinjilefuFA15.html">dblp:conf/humanoids/XinjilefuFA15</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/mpxkjvol2jh75ow3y4zr2xmkqa">fatcat:mpxkjvol2jh75ow3y4zr2xmkqa</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20160207121651/http://www.cs.cmu.edu:80/~cga/drc/ICHR15_0101_FI.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/a3/0c/a30c9fa4da567510b9ab861e761fb50795644050.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/humanoids.2015.7363533"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>
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