Robust control of underactuated wheeled mobile manipulators using GPI disturbance observers

This article describes the design of a linear observer–linear controller-based robust output feedback scheme for output reference trajectory tracking tasks in the case of nonlinear, multivariable, nonholonomic underactuated mobile manipulators. The proposed linear feedback scheme is based on the use of a classical linear feedback controller and suitably extended, high-gain, linear Generalized Proportional Integral (GPI) observers, thus aiding the linear feedback controllers to provide an accurate simultaneous estimation of each flat output associated phase variables and of the exogenous and perturbation inputs. This information is used in the proposed feedback controller in (a) approximate, yet close, cancelations, as lumped unstructured time-varying terms, of the influence of the highly coupled nonlinearities, and (b) the devising of proper linear output feedback control laws based on the approximate estimates of the string of phase variables associated with the flat outputs simultaneously provided by the disturbance observers. Simulations reveal the effectiveness of the proposed approach

Optimal Control of Legged-Robots Subject to Friction Cone Constraints

A hierarchical control architecture is presented for energy-efficient control of legged robots subject to variety of linear/nonlinear inequality constraints such as Coulomb friction cones, switching unilateral contacts, actuator saturation limits, and yet minimizing the power losses in the joint actuators. The control formulation can incorporate the nonlinear friction cone constraints into the control without recourse to the common linear approximation of the constraints or introduction of slack variables. A performance metric is introduced that allows trading-off the multiple constraints when otherwise finding an optimal solution is not feasible. Moreover, the projection-based controller does not require the minimal-order dynamics model and hence allows switching contacts that is particularly appealing for legged robots. The fundamental properties of constrained inertia matrix derived are similar to those of general inertia matrix of the system and subsequently these properties are greatly exploited for control design purposes. The problem of task space control with minimum (point-wise) power dissipation subject to all physical constraints is transcribed into a quadratically constrained quadratic programming (QCQP) that can be solved by barrier methods

Humanoid Robot Soccer Locomotion and Kick Dynamics: Open Loop Walking, Kicking and Morphing into Special Motions on the Nao Robot

Striker speed and accuracy in the RoboCup (SPL) international robot soccer league is becoming increasingly important as the level of play rises. Competition around the ball is now decided in a matter of seconds. Therefore, eliminating any wasted actions or motions is crucial when attempting to kick the ball. It is common to see a discontinuity between walking and kicking where a robot will return to an initial pose in preparation for the kick action. In this thesis we explore the removal of this behaviour by developing a transition gait that morphs the walk directly into the kick back swing pose. The solution presented here is targeted towards the use of the Aldebaran walk for the Nao robot. The solution we develop involves the design of a central pattern generator to allow for controlled steps with realtime accuracy, and a phase locked loop method to synchronise with the Aldebaran walk so that precise step length control can be activated when required. An open loop trajectory mapping approach is taken to the walk that is stabilized statically through the use of a phase varying joint holding torque technique. We also examine the basic princples of open loop walking, focussing on the commonly overlooked frontal plane motion. The act of kicking itself is explored both analytically and empirically, and solutions are provided that are versatile and powerful. Included as an appendix, the broader matter of striker behaviour (process of goal scoring) is reviewed and we present a velocity control algorithm that is very accurate and efficient in terms of speed of execution

A Foot Placement Strategy for Robust Bipedal Gait Control

This thesis introduces a new measure of balance for bipedal robotics called the foot placement estimator (FPE). To develop this measure, stability first is defined for a simple biped. A proof of the stability of a simple biped in a controls sense is shown to exist using classical methods for nonlinear systems. With the addition of a contact model, an analytical solution is provided to define the bounds of the region of stability. This provides the basis for the FPE which estimates where the biped must step in order to be stable. By using the FPE in combination with a state machine, complete gait cycles are created without any precalculated trajectories. This includes gait initiation and termination. The bipedal model is then advanced to include more realistic mechanical and environmental models and the FPE approach is verified in a dynamic simulation. From these results, a 5-link, point-foot robot is designed and constructed to provide the final validation that the FPE can be used to provide closed-loop gait control. In addition, this approach is shown to demonstrate significant robustness to external disturbances. Finally, the FPE is shown in experimental results to be an unprecedented estimate of where humans place their feet for walking and jumping, and for stepping in response to an external disturbance

Graceful transitions between periodic motions for nonlinear and hybrid systems

The objective of this dissertation is to provide a set of methods by which a graceful transition is synthesised for a large class of nonlinear and hybrid systems. A special focus of this thesis is on transitioning between periodic orbits. The primary motivation for this is in the application to legged locomotion. The Gluskabi Raccordation provides a general framework to accomplish this. In this thesis, we utilize the Gluskabi raccordation as a general framework for encapsulating the abstract notion of gracefulness. We extend the kernel method to a certain class of hybrid systems. We show how to construct a carefully formulated optimization problem, the solution of which yields graceful transitions. This is illustrated on hopping systems on elastic and granular terrain. The image method, which is dual to the kernel method, is also used as an alternative method to realize graceful transitions. This involves the careful formulation of a parameterized optimal control problem, the solution of which yields parameterized periodic orbits. A dynamically feasible trajectory is then constructed staying close to this orbit family, which yields a different notion of gracefulness. The method is illustrated on fully actuated and underactuated planar bipedal robots. Finally, energy efficient locomotion is also considered in the context of bipedal robots. The partial hybrid zero dynamics framework is employed to generate stable energy efficient periodic walking gaits. An optimal control problem is solved which generates energy efficient transitions between these stable periodic walking gaits.Ph.D

Fast, Optimal, and Safe Motion Planning for Bipedal Robots

Bipedal robots have the potential to traverse a wide range of unstructured environments, which are otherwise inaccessible to wheeled vehicles. Though roboticists have successfully constructed controllers for bipedal robots to walk over uneven terrain such as snow, sand, or even stairs, it has remained challenging to synthesize such controllers in an online fashion while guaranteeing their satisfactory performance. This is primarily due to the lack of numerical method that can accommodate the non-smooth dynamics, high degrees of freedom, and underactuation that characterize bipedal robots. This dissertation proposes and implements a family of numerical methods that begin to address these three challenges along three dimensions: optimality, safety, and computational speed. First, this dissertation develops a convex relaxation-based approach to solve optimal control for hybrid systems without a priori knowledge of the optimal sequence of transition. This is accomplished by formulating the problem in the space of relaxed controls, which gives rise to a linear program whose solution is proven to compute the globally optimal controller. This conceptual program is solved using a sequence of semidefinite programs whose solutions are proven to converge from below to the true optimal solution of the original optimal control problem. Moreover, a method to synthesize the optimal controller is developed. Using an array of examples, the performance of this method is validated on problems with known solutions and also compared to a commercial solver. Second, this dissertation constructs a method to generate safety-preserving controllers for a planar bipedal robot walking on flat ground by performing reachability analysis on simplified models under the assumption that the difference between the two models can be bounded. Subsequently, this dissertation describes how this reachable set can be incorporated into a Model Predictive Control framework to select controllers that result in safe walking on the biped in an online fashion. This method is validated on a 5-link planar model. Third, this dissertation proposes a novel parallel algorithm capable of finding guaranteed optimal solutions to polynomial optimization problems up to pre-specified tolerances. Formal proofs of bounds on the time and memory usage of such method are also given. Such algorithm is implemented in parallel on GPUs and compared against state-of-the-art solvers on a group of benchmark examples. An application of such method on a real-time trajectory-planning task of a mobile robot is also demonstrated. Fourth, this dissertation constructs an online Model Predictive Control framework that guarantees safety of a 3D bipedal robot walking in a forest of randomly-placed obstacles. Using numerical integration and interval arithmetic techniques, approximations to trajectories of the robot are constructed along with guaranteed bounds on the approximation error. Safety constraints are derived using these error bounds and incorporated in a Model Predictive Control framework whose feasible solutions keep the robot from falling over and from running into obstacles. To ensure that the bipedal robot is able to avoid falling for all time, a finite-time terminal constraint is added to the Model Predictive Control algorithm. The performance of this method is implemented and compared against a naive Model Predictive Control method on a biped model with 20 degrees of freedom. In summary, this dissertation presents four methods for control synthesis of bipedal robots with improvements in either optimality, safety guarantee, or computational speed. Furthermore, the performance of all proposed methods are compared with existing methods in the field.PHDMechanical EngineeringUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/162880/1/pczhao_1.pd

Climbing and Walking Robots

Nowadays robotics is one of the most dynamic fields of scientific researches. The shift of robotics researches from manufacturing to services applications is clear. During the last decades interest in studying climbing and walking robots has been increased. This increasing interest has been in many areas that most important ones of them are: mechanics, electronics, medical engineering, cybernetics, controls, and computers. Today’s climbing and walking robots are a combination of manipulative, perceptive, communicative, and cognitive abilities and they are capable of performing many tasks in industrial and non- industrial environments. Surveillance, planetary exploration, emergence rescue operations, reconnaissance, petrochemical applications, construction, entertainment, personal services, intervention in severe environments, transportation, medical and etc are some applications from a very diverse application fields of climbing and walking robots. By great progress in this area of robotics it is anticipated that next generation climbing and walking robots will enhance lives and will change the way the human works, thinks and makes decisions. This book presents the state of the art achievments, recent developments, applications and future challenges of climbing and walking robots. These are presented in 24 chapters by authors throughtot the world The book serves as a reference especially for the researchers who are interested in mobile robots. It also is useful for industrial engineers and graduate students in advanced study

C-Trend parameters and possibilities of federated learning

Abstract. In this observational study, federated learning, a cutting-edge approach to machine learning, was applied to one of the parameters provided by C-Trend Technology developed by Cerenion Oy. The aim was to compare the performance of federated learning to that of conventional machine learning. Additionally, the potential of federated learning for resolving the privacy concerns that prevent machine learning from realizing its full potential in the medical field was explored. Federated learning was applied to burst-suppression ratio’s machine learning and it was compared to the conventional machine learning of burst-suppression ratio calculated on the same dataset. A suitable aggregation method was developed and used in the updating of the global model. The performance metrics were compared and a descriptive analysis including box plots and histograms was conducted. As anticipated, towards the end of the training, federated learning’s performance was able to approach that of conventional machine learning. The strategy can be regarded to be valid because the performance metric values remained below the set test criterion levels. With this strategy, we will potentially be able to make use of data that would normally be kept confidential and, as we gain access to more data, eventually develop machine learning models that perform better. Federated learning has some great advantages and utilizing it in the context of qEEGs’ machine learning could potentially lead to models, which reach better performance by receiving data from multiple institutions without the difficulties of privacy restrictions. Some possible future directions include an implementation on heterogeneous data and on larger data volume.C-Trend-teknologian parametrit ja federoidun oppimisen mahdollisuudet. Tiivistelmä. Tässä havainnointitutkimuksessa federoitua oppimista, koneoppimisen huippuluokan lähestymistapaa, sovellettiin yhteen Cerenion Oy:n kehittämään C-Trend-teknologian tarjoamaan parametriin. Tavoitteena oli verrata federoidun oppimisen suorituskykyä perinteisen koneoppimisen suorituskykyyn. Lisäksi tutkittiin federoidun oppimisen mahdollisuuksia ratkaista yksityisyyden suojaan liittyviä rajoitteita, jotka estävät koneoppimista hyödyntämästä täyttä potentiaaliaan lääketieteen alalla. Federoitua oppimista sovellettiin purskevaimentumasuhteen koneoppimiseen ja sitä verrattiin purskevaimentumasuhteen laskemiseen, johon käytettiin perinteistä koneoppimista. Kummankin laskentaan käytettiin samaa dataa. Sopiva aggregointimenetelmä kehitettiin, jota käytettiin globaalin mallin päivittämisessä. Suorituskykymittareiden tuloksia verrattiin keskenään ja tehtiin kuvaileva analyysi, johon sisältyi laatikkokuvioita ja histogrammeja. Odotetusti opetuksen loppupuolella federoidun oppimisen suorituskyky pystyi lähestymään perinteisen koneoppimisen suorituskykyä. Menetelmää voidaan pitää pätevänä, koska suorituskykymittarin arvot pysyivät alle asetettujen testikriteerien tasojen. Tämän menetelmän avulla voimme ehkä hyödyntää dataa, joka normaalisti pidettäisiin salassa, ja kun saamme lisää dataa käyttöömme, voimme lopulta kehittää koneoppimismalleja, jotka saavuttavat paremman suorituskyvyn. Federoidulla oppimisella on joitakin suuria etuja, ja sen hyödyntäminen qEEG:n koneoppimisen yhteydessä voisi mahdollisesti johtaa malleihin, jotka saavuttavat paremman suorituskyvyn saamalla tietoja useista eri lähteistä ilman yksityisyyden suojaan liittyviä rajoituksia. Joitakin mahdollisia tulevia suuntauksia ovat muun muassa heterogeenisen datan ja suurempien tietomäärien käyttö

Sample-based motion planning in high-dimensional and differentially-constrained systems

Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2010.This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.Cataloged from student submitted PDF version of thesis.Includes bibliographical references (p. 115-124).State of the art sample-based path planning algorithms, such as the Rapidly-exploring Random Tree (RRT), have proven to be effective in path planning for systems subject to complex kinematic and geometric constraints. The performance of these algorithms, however, degrade as the dimension of the system increases. Furthermore, sample-based planners rely on distance metrics which do not work well when the system has differential constraints. Such constraints are particularly challenging in systems with non-holonomic and underactuated dynamics. This thesis develops two intelligent sampling strategies to help guide the search process. To reduce sensitivity to dimension, sampling can be done in a low-dimensional task space rather than in the high-dimensional state space. Altering the sampling strategy in this way creates a Voronoi Bias in task space, which helps to guide the search, while the RRT continues to verify trajectory feasibility in the full state space. Fast path planning is demonstrated using this approach on a 1500-link manipulator. To enable task-space biasing for underactuated systems, a hierarchical task space controller is developed by utilizing partial feedback linearization. Another sampling strategy is also presented, where the local reachability of the tree is approximated, and used to bias the search, for systems subject to differential constraints. Reachability guidance is shown to improve search performance of the RRT by an order of magnitude when planning on a pendulum and non-holonomic car. The ideas of task-space biasing and reachability guidance are then combined for demonstration of a motion planning algorithm implemented on LittleDog, a quadruped robot. The motion planning algorithm successfully planned bounding trajectories over extremely rough terrain.by Alexander C. Shkolnik.Ph.D

Self-assembling peptide hydrogels for articular cartilage repair

Osteoarthritis affects millions of people globally, with damage to articular cartilage causing pain and altered mechanics during articulation. The treatment for late stage osteoarthritis is surgical intervention ultimately leading to total joint replacements. These treatments are not ideal for younger or more active patients so there is a clinical need for an early stage intervention treatment to reduce or stop the progression of osteoarthritis. It has been reported that there is a correlation between the loss of glycosaminoglycans (GAGs) from within osteoarthritic cartilage and the changes in biomechanics of the cartilage. It is hypothesized that the re-introduction of GAGs into early stage osteoarthritic cartilage through the use of permanent linkage and integration into a self-assembling peptide hydrogel matrix which could penetrate the cartilage tissue would potentially restore the resistance to deformation observed in osteoarthritic cartilage. Initially, synthetic self-assembling peptide-chondroitin sulfate (CS) conjugates were synthesized through utilizing copper-catalyzed click chemistry and subsequently characterized. The chosen peptide-CS conjugates were then incorporated into self-assembling peptide hydrogels and the morphologies and gel properties were investigated and evaluated in terms of the closest resemblance to the natural properties of the surrounding cartilage into which the hydrogels would be eventually injected. The best hydrogel candidates were then taken forward to be injected into a GAG depleted early stage osteoarthritic porcine cartilage model developed by Andres Barco (University of Leeds) where a severely GAG depleted state had been produced through a succession of surfactant and phosphate buffered saline washes. The hydrogels were doped with fluorescently labelled material which integrated into the hydrogel matrix, then injected into the cartilage tissue in a monomeric state. The hydrogels then self-assembled in situ and the deformation of the tissue was measured through creep indentation. The introduction of the peptide-CS conjugate showed significant restoration of resistance to deformation