271,080 research outputs found
DribbleBot: Dynamic Legged Manipulation in the Wild
DribbleBot (Dexterous Ball Manipulation with a Legged Robot) is a legged
robotic system that can dribble a soccer ball under the same real-world
conditions as humans (i.e., in-the-wild). We adopt the paradigm of training
policies in simulation using reinforcement learning and transferring them into
the real world. We overcome critical challenges of accounting for variable ball
motion dynamics on different terrains and perceiving the ball using
body-mounted cameras under the constraints of onboard computing. Our results
provide evidence that current quadruped platforms are well-suited for studying
dynamic whole-body control problems involving simultaneous locomotion and
manipulation directly from sensory observations.Comment: To appear at the IEEE Conference on Robotics and Automation (ICRA),
2023. Video is available at https://gmargo11.github.io/dribblebot
Whole-Body Dynamic Telelocomotion: A Step-to-Step Dynamics Approach to Human Walking Reference Generation
Teleoperated humanoid robots hold significant potential as physical avatars
for humans in hazardous and inaccessible environments, with the goal of
channeling human intelligence and sensorimotor skills through these robotic
counterparts. Precise coordination between humans and robots is crucial for
accomplishing whole-body behaviors involving locomotion and manipulation. To
progress successfully, dynamic synchronization between humans and humanoid
robots must be achieved. This work enhances advancements in whole-body dynamic
telelocomotion, addressing challenges in robustness. By embedding the hybrid
and underactuated nature of bipedal walking into a virtual human walking
interface, we achieve dynamically consistent walking gait generation.
Additionally, we integrate a reactive robot controller into a whole-body
dynamic telelocomotion framework. Thus, allowing the realization of
telelocomotion behaviors on the full-body dynamics of a bipedal robot.
Real-time telelocomotion simulation experiments validate the effectiveness of
our methods, demonstrating that a trained human pilot can dynamically
synchronize with a simulated bipedal robot, achieving sustained locomotion,
controlling walking speeds within the range of 0.0 m/s to 0.3 m/s, and enabling
backward walking for distances of up to 2.0 m. This research contributes to
advancing teleoperated humanoid robots and paves the way for future
developments in synchronized locomotion between humans and bipedal robots.Comment: 8 pages, 8 figure
Borinot: an agile torque-controlled robot for hybrid flying and contact loco-manipulation (workshop version)
This paper introduces Borinot, an open-source flying robotic platform
designed to perform hybrid agile locomotion and manipulation. This platform
features a compact and powerful hexarotor that can be outfitted with
torque-actuated extremities of diverse architecture, allowing for whole-body
dynamic control. As a result, Borinot can perform agile tasks such as
aggressive or acrobatic maneuvers with the participation of the whole-body
dynamics. The extremities attached to Borinot can be utilized in various ways;
during contact, they can be used as legs to create contact-based locomotion, or
as arms to manipulate objects. In free flight, they can be used as tails to
contribute to dynamics, mimicking the movements of many animals. This allows
for any hybridization of these dynamic modes, like the jump-flight of chicken
and locusts, making Borinot an ideal open-source platform for research on
hybrid aerial-contact agile motion. To demonstrate the key capabilities of
Borinot, we have fitted a planar 2DoF arm and implemented whole-body
torque-level model-predictive-control. The result is a capable and adaptable
platform that, we believe, opens up new avenues of research in the field of
agile robotics.Comment: 2 pages + references. Workshop on agile robotics, ICRA 202
Trajectory Optimization Through Contacts and Automatic Gait Discovery for Quadrupeds
In this work we present a trajectory Optimization framework for whole-body
motion planning through contacts. We demonstrate how the proposed approach can
be applied to automatically discover different gaits and dynamic motions on a
quadruped robot. In contrast to most previous methods, we do not pre-specify
contact switches, timings, points or gait patterns, but they are a direct
outcome of the optimization. Furthermore, we optimize over the entire dynamics
of the robot, which enables the optimizer to fully leverage the capabilities of
the robot. To illustrate the spectrum of achievable motions, here we show eight
different tasks, which would require very different control structures when
solved with state-of-the-art methods. Using our trajectory Optimization
approach, we are solving each task with a simple, high level cost function and
without any changes in the control structure. Furthermore, we fully integrated
our approach with the robot's control and estimation framework such that
optimization can be run online. By demonstrating a rough manipulation task with
multiple dynamic contact switches, we exemplarily show how optimized
trajectories and control inputs can be directly applied to hardware.Comment: Video: https://youtu.be/sILuqJBsyK
A Whole-Body Pose Taxonomy for Loco-Manipulation Tasks
Exploiting interaction with the environment is a promising and powerful way
to enhance stability of humanoid robots and robustness while executing
locomotion and manipulation tasks. Recently some works have started to show
advances in this direction considering humanoid locomotion with multi-contacts,
but to be able to fully develop such abilities in a more autonomous way, we
need to first understand and classify the variety of possible poses a humanoid
robot can achieve to balance. To this end, we propose the adaptation of a
successful idea widely used in the field of robot grasping to the field of
humanoid balance with multi-contacts: a whole-body pose taxonomy classifying
the set of whole-body robot configurations that use the environment to enhance
stability. We have revised criteria of classification used to develop grasping
taxonomies, focusing on structuring and simplifying the large number of
possible poses the human body can adopt. We propose a taxonomy with 46 poses,
containing three main categories, considering number and type of supports as
well as possible transitions between poses. The taxonomy induces a
classification of motion primitives based on the pose used for support, and a
set of rules to store and generate new motions. We present preliminary results
that apply known segmentation techniques to motion data from the KIT whole-body
motion database. Using motion capture data with multi-contacts, we can identify
support poses providing a segmentation that can distinguish between locomotion
and manipulation parts of an action.Comment: 8 pages, 7 figures, 1 table with full page figure that appears in
landscape page, 2015 IEEE/RSJ International Conference on Intelligent Robots
and System
Analyzing Whole-Body Pose Transitions in Multi-Contact Motions
When executing whole-body motions, humans are able to use a large variety of
support poses which not only utilize the feet, but also hands, knees and elbows
to enhance stability. While there are many works analyzing the transitions
involved in walking, very few works analyze human motion where more complex
supports occur.
In this work, we analyze complex support pose transitions in human motion
involving locomotion and manipulation tasks (loco-manipulation). We have
applied a method for the detection of human support contacts from motion
capture data to a large-scale dataset of loco-manipulation motions involving
multi-contact supports, providing a semantic representation of them. Our
results provide a statistical analysis of the used support poses, their
transitions and the time spent in each of them. In addition, our data partially
validates our taxonomy of whole-body support poses presented in our previous
work.
We believe that this work extends our understanding of human motion for
humanoids, with a long-term objective of developing methods for autonomous
multi-contact motion planning.Comment: 8 pages, IEEE-RAS International Conference on Humanoid Robots
(Humanoids) 201
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