Supervoxel Plane Segmentation and Multi-Contact Motion Generation for Humanoid Stair Climbing

2017 ◽  
Vol 14 (01) ◽  
pp. 1650022 ◽  
Author(s):  
Tianwei Zhang ◽  
Stéphane Caron ◽  
Yoshihiko Nakamura
Keyword(s):  
Motion Planning ◽  
Humanoid Robot ◽  
Real Life ◽  
Estimation Method ◽  
Humanoid Robots ◽  
Stair Climbing ◽  
Lidar Data ◽  
Motion Generation ◽  
Prior Models ◽  
Motion Generator

Stair climbing is still a challenging task for humanoid robots, especially in unknown environments. In this paper, we address this problem from perception to execution. Our first contribution is a real-time plane-segment estimation method using Lidar data without prior models of the staircase. We then integrate this solution with humanoid motion planning. Our second contribution is a stair-climbing motion generator where estimated plane segments are used to compute footholds and stability polygons. We evaluate our method on various staircases. We also demonstrate the feasibility of the generated trajectories in a real-life experiment with the humanoid robot HRP-4.

Dynamics and Simulation of General Human and Humanoid Motion in Sports

2011 ◽  
pp. 36-62 ◽  
Author(s):  
Veljko Potkonjak ◽  
Miomir Vukobratovic ◽  
Kalman Babkovic ◽  
Branislav Borovac
Keyword(s):  
Mathematical Models ◽  
Motion Planning ◽  
Mathematical Analysis ◽  
Humanoid Robot ◽  
Dynamic Control ◽  
Humanoid Robots ◽  
Assistive Devices ◽  
Kinematics And Dynamics ◽  
Biologically Inspired ◽  
Biologically Inspired Robot

This chapter relates biomechanics to robotics. The mathematical models are derived to cover the kinematics and dynamics of virtually any motion of a human or a humanoid robot. Benefits for humanoid robots are seen in fully dynamic control and a general simulator for the purpose of system designing and motion planning. Biomechanics in sports and medicine can use these as a tool for mathematical analysis of motion and disorders. Better results in sports and improved diagnostics are foreseen. This work is a step towards the biologically-inspired robot control needed for a diversity of tasks expected in humanoids, and robotic assistive devices helping people to overcome disabilities or augment their physical potentials. This text deals mainly with examples coming from sports in order to justify this aspect of research.

Walking Motion Generation and Validation of Biped Humanoid Robot

2012 ◽  
Vol 591-593 ◽  
pp. 1386-1390
Author(s):  
Bo Tu ◽  
Dan Pu Zhao ◽  
Xian Qing Tai
Keyword(s):  
Motion Planning ◽  
Dynamic Model ◽  
Humanoid Robot ◽  
Interpolation Method ◽  
Spline Interpolation ◽  
The State ◽  
Significant Issue ◽  
Motion Generation ◽  
Walking Motion

Walking motion generation and validation have been a significant issue for biped humanoid robot. To generate more natural walking motions, and confirm the validity rapidly, this paper presents work on walking motion planning and validity verifying. Based on spline interpolation method, the walking motions in both sagittal and lateral planes are generated. Dynamic model is constructed with the toolbox of SimMechanics for Matlab, and the interactive forces between robot’s sole and ground are constrained in order to depict the state of balance. Dynamic model is driven by the walking motions which have been generated. The simulation and analysis demonstrate the validity of the motion which has been designed.

First human–robot archery competition: a new humanoid robot challenge

2020 ◽  
Vol 35 ◽  
Author(s):  
Kuo-Yang Tu ◽  
Hong-Yu Lin ◽  
You-Ru Li ◽  
Che-Ping Hung ◽  
Jacky Baltes
Keyword(s):  
Motion Planning ◽  
Humanoid Robot ◽  
Humanoid Robots ◽  
Special Design ◽  
Design And Development ◽  
Trade Off ◽  
Design And Implementation ◽  
Structure And Motion ◽  
Further Development

Abstract A humanoid robot developed to play multievent athletes like human has paved a way for interesting and popular robotics research. One of the great dreams is to develop a humanoid robot being able to challenge human athletes. Therefore, the challenge of humanoid robots to play archery against human is organized at Taichung, Taiwan, in HuroCup, FIRA 2018, on August 7th. The difficulties of developing humanoid robot are not just on playing archery. The humanoid robots for HuroCup must make use of the same hardware for the 10 events. In this paper, the design and implementation of the humanoid robot for archery are proposed under the trade off with other nine events. Therefore, the humanoid robot must have some special design and development on software. More specially, the humanoid robot must use professional bow to challenge human for archery competition. Therefore, in this paper, special shooting posture under constrained arm structure and motion planning of both arms for more torque to play professional bow are proposed. In addition, the further development of humanoid robot to improve archery shooting is summarized.

HUMANOID ROBOT MOTION GENERATION SCHEME FOR TASKS UTILIZING IMPULSIVE FORCE

2012 ◽  
Vol 09 (02) ◽  
pp. 1250008 ◽  
Author(s):  
TEPPEI TSUJITA ◽  
ATSUSHI KONNO ◽  
SHUNSUKE KOMIZUNAI ◽  
YUKI NOMURA ◽  
TOMOYA MYOJIN ◽  
...  
Keyword(s):  
Humanoid Robot ◽  
Control Method ◽  
Three Dimensional ◽  
Humanoid Robots ◽  
Impulsive Force ◽  
Motion Generation ◽  
Three Dimensional Model ◽  
Large Force ◽  
The Impact ◽  
Impact Motion

In order to exert a large force on an environment, it is effective to apply impulsive force. We describe the motions in which tasks are performed by applying impulsive force as "impact motions." This paper proposes a way to generate impact motions for humanoid robots to exert a large force and the feedback control method for driving a nail robustly. The impact motion is optimized based on a three dimensional model using sequential quadratic programming (SQP). In this research, a nailing task is taken as an example of impact motion. A dominant parameter for driving a nail strongly is revealed and motions which maximize the parameter are generated considering the robot's postural stability. In order to evaluate the proposed scheme, a life-sized humanoid robot drives nails into a plate made of chemical wood. The optimized motion is compared with a motion designed heuristically by a human. Average driving depth is clearly increased by the proposed method.

PERCEPTION OF HUMANOID MOVEMENT

2005 ◽  
Vol 02 (03) ◽  
pp. 277-300 ◽  
Author(s):  
FRANK E. POLLICK ◽  
JOSHUA G. HALE ◽  
MARIA TZONEVA-HADJIGEORGIEVA
Keyword(s):  
Computational Efficiency ◽  
Humanoid Robot ◽  
Relative Effectiveness ◽  
Human Movement ◽  
Humanoid Robots ◽  
Motion Artifacts ◽  
Movement Speed ◽  
Space Representation ◽  
Motion Generation ◽  
Psychological Techniques

With the ultimate goal of producing natural-looking movements in humanoid robots and virtual humans, we examined the visual perception of movements generated by different models of movement generation. The models of movement generation included 14 synthetic motion generation algorithms based on theories of human motor production. In addition, we obtained motion from recordings of actual human movement. The resulting movements were applied to both a humanoid robot and a computer graphics virtual human. The computational efficiency of the motion production algorithms is described. In Experiment 1, we examined observers' judgments of the naturalness of a movement. Results showed that, for the humanoid robot, low ratings of naturalness were obtained for rapid movement. In addition, it was found that some movements that appeared to have unremarkable naturalness ratings were anomalous examples of the desired movement. In Experiment 2, we used naturalness ratings to study the influence of movement speed on the humanoid robot. Results indicated that the decrease in naturalness was due to motion artifacts at the ends of the movement. In Experiment 3, we returned to the issue of anomalous movements by obtaining ratings of similarity between pairs of movements, and analyzing these with multi-dimensional scaling to obtain a psychological space representation of the set of movements. Results showed that the presumed anomalous movements were indeed distinctive from the other movements, suggesting that the naturalness judgments did not completely indicate the perception of movement. We discuss these results in the context of what they suggest for the relative effectiveness of the different generation algorithms at producing natural movement, and their relative computational efficiency, as well as in terms of the effectiveness of different psychological techniques for the assessment of humanoid movement.

Design and Operation of Humanoid Robots with Incipient Fall Detection

2021 ◽  
pp. 11-15
Author(s):  
M. Ceccarelli
Keyword(s):  
Motion Planning ◽  
Rational Design ◽  
Humanoid Robot ◽  
Fall Detection ◽  
Humanoid Robots ◽  
Design Issues ◽  
Detection Function ◽  
Design Solutions

Falling is one of the main reasons of failure and damage of humanoid robots when they perform human-like tasks. Fall detection can be used not only to prevent damage to the humanoid robot when falling but also to adjust its actions so that the operation can run continuously. The paper discusses design issues, analyses the fall detection function and diagnostics sensors, and proposes rational design solutions for the required motion planning.

Motion planning for humanoid robot dynamically stepping over consecutive large obstacles

2016 ◽  
Vol 43 (2) ◽  
pp. 204-220 ◽  
Author(s):  
Fayong Guo ◽  
Tao Mei ◽  
Minzhou Luo ◽  
Marco Ceccarelli ◽  
Ziyi Zhao ◽  
...  
Keyword(s):  
Motion Planning ◽  
Trajectory Planning ◽  
Humanoid Robot ◽  
Extreme Case ◽  
Humanoid Robots ◽  
Decision Criterion ◽  
Body Motion ◽  
Feasibility Analysis ◽  
Upper Body ◽  
Content Type

Purpose – Humanoid robots should have the ability of walking in complex environment and overcoming large obstacles in rescue mission. Previous research mainly discusses the problem of humanoid robots stepping over or on/off one obstacle statically or dynamically. As an extreme case, this paper aims to demonstrate how the robots can step over two large obstacles continuously. Design/methodology/approach – The robot model uses linear inverted pendulum (LIP) model. The motion planning procedure includes feasibility analysis with constraints, footprints planning, legs trajectory planning with collision-free constraint, foot trajectory adapter and upper body motion planning. Findings – The motion planning with the motion constraints is a key problem, which can be considered as global optimization issue with collision-free constraint, kinematic limits and balance constraint. With the given obstacles, the robot first needs to determine whether it can achieve stepping over, if feasible, and then the robot gets the motion trajectory for the legs, waist and upper body using consecutive obstacles stepping over planning algorithm which is presented in this paper. Originality/value – The consecutive stepping over problem is proposed in this paper. First, the paper defines two consecutive stepping over conditions, sparse stepping over (SSO) and tight stepping over (TSO). Then, a novel feasibility analysis method with condition (SSO/TSO) decision criterion is proposed for consecutive obstacles stepping over. The feasibility analysis method’s output is walking parameters with obstacles’ information. Furthermore, a modified legs trajectory planning method with center of mass trajectory compensation using upper body motion is proposed. Finally, simulations and experiments for SSO and TSO are carried out by using the XT-I humanoid robot platform with the aim to verify the validity and feasibility of the novel methods proposed in this paper.

Dynamics and Simulation of General Human and Humanoid Motion in Sports

2011 ◽  
pp. 998-1022
Author(s):  
Veljko Potkonjak ◽  
Miomir Vukobratovic ◽  
Kalman Babkovic ◽  
Branislav Borovac
Keyword(s):  
Mathematical Models ◽  
Motion Planning ◽  
Mathematical Analysis ◽  
Humanoid Robot ◽  
Dynamic Control ◽  
Humanoid Robots ◽  
Assistive Devices ◽  
Kinematics And Dynamics ◽  
Biologically Inspired ◽  
Biologically Inspired Robot

This chapter relates biomechanics to robotics. The mathematical models are derived to cover the kinematics and dynamics of virtually any motion of a human or a humanoid robot. Benefits for humanoid robots are seen in fully dynamic control and a general simulator for the purpose of system designing and motion planning. Biomechanics in sports and medicine can use these as a tool for mathematical analysis of motion and disorders. Better results in sports and improved diagnostics are foreseen. This work is a step towards the biologically-inspired robot control needed for a diversity of tasks expected in humanoids, and robotic assistive devices helping people to overcome disabilities or augment their physical potentials. This text deals mainly with examples coming from sports in order to justify this aspect of research.

scholarly journals THE CHALLENGE OF MOTION PLANNING FOR SOCCER PLAYING HUMANOID ROBOTS

2008 ◽  
Vol 05 (03) ◽  
pp. 481-499 ◽  
Author(s):  
STEFANO CARPIN ◽  
MARCELO KALLMANN ◽  
ENRICO PAGELLO
Keyword(s):  
Motion Planning ◽  
Humanoid Robot ◽  
State Of The Art ◽  
Humanoid Robots ◽  
Soccer Players ◽  
Double Support ◽  
Short And Long Term ◽  
Art Research ◽  
Key Aspects

Motion planning for humanoids faces several challenging issues: high dimensionality of the configuration space, necessity to address balance constraints in single and double support mode, higher levels of planning for coordination of different skills, etc. While the above challenges hold for any humanoid robot, the soccer scenario adds difficulties rarely addressed in humanoid motion planning research, as for example: dynamic environments with active opponents, the requirement to perform short- and long-term plans for performing soccer-relevant actions, and the necessity to plan movements purposely terminating with a collision with the ball. These aspects open a completely new scenario for researchers. This paper surveys state-of-the-art research in motion planning for humanoid robots with a focus on outlining connections, differences, and identifying the key aspects that ought to be addressed when developing effective humanoid soccer players.

An impact dynamics model and sequential optimization to generate impact motions for a humanoid robot

2011 ◽  
Vol 30 (13) ◽  
pp. 1596-1608 ◽  
Author(s):  
Atsushi Konno ◽  
Tomoya Myojin ◽  
Takaaki Matsumoto ◽  
Teppei Tsujita ◽  
Masaru Uchiyama
Keyword(s):  
Humanoid Robot ◽  
Humanoid Robots ◽  
Sequential Optimization ◽  
Whole Body ◽  
Impact Dynamics ◽  
Impulsive Force ◽  
Motion Generation ◽  
Large Force ◽  
Non Linear ◽  
The Impact

When a human needs to generate a large force, they will try to apply an impulsive force with dynamic cooperation of the whole body. In this paper we first discuss impact dynamics of humanoid robots and then propose a way to generate impact motions for a humanoid robot to exert a large force while keeping a balance. In the impact motion generation, Sequential Quadratic Programming (SQP) is used to solve a non-linear programming problem in which an objective function and constraints may be non-linear functions of the motion parameters. Impact motions are generated using SQP so that the impact force is maximized while the angular momentum is minimized. Breaking wooden boards with a Karate chop is taken as a case study because it is a typical example of tasks that utilize impulsive force. A humanoid robot motion for the Karate chop is generated by the proposed method. In order to validate the designed motion, experiments are carried out using a small humanoid robot Fujitsu HOAP-2. The Karate-chop motion generated by the proposed method is compared with the motion designed by a human. The results of breaking the wooden boards experiments clearly show the effectiveness of the proposed method.

Sign in / Sign up

Export Citation Format

Share Document