5,137 research outputs found
A Systematic Literature Review of Experiments in Socially Assistive Robotics using Humanoid Robots
We perform a Systematic Literature Review to discover how Humanoid robots are
being applied in Socially Assistive Robotics experiments. Our search returned
24 papers, from which 16 were included for closer analysis. To do this analysis
we used a conceptual framework inspired by Behavior-based Robotics. We were
interested in finding out which robot was used (most use the robot NAO), what
the goals of the application were (teaching, assisting, playing, instructing),
how the robot was controlled (manually in most of the experiments), what kind
of behaviors the robot exhibited (reacting to touch, pointing at body parts,
singing a song, dancing, among others), what kind of actuators the robot used
(always motors, sometimes speakers, hardly ever any other type of actuator) and
what kind of sensors the robot used (in many studies the robot did not use any
sensors at all, in others the robot frequently used camera and/or microphone).
The results of this study can be used for designing software frameworks
targeting Humanoid Socially Assistive Robotics, especially in the context of
Software Product Line Engineering projects
Humanoid TeenSize Open Platform NimbRo-OP
In recent years, the introduction of affordable platforms in the KidSize
class of the Humanoid League has had a positive impact on the performance of
soccer robots. The lack of readily available larger robots, however, severely
affects the number of participants in Teen- and AdultSize and consequently the
progress of research that focuses on the challenges arising with robots of
larger weight and size. This paper presents the first hardware release of a low
cost Humanoid TeenSize open platform for research, the first software release,
and the current state of ROS-based software development. The NimbRo-OP robot
was designed to be easily manufactured, assembled, repaired, and modified. It
is equipped with a wide-angle camera, ample computing power, and enough torque
to enable full-body motions, such as dynamic bipedal locomotion, kicking, and
getting up.Comment: Proceedings of 17th RoboCup International Symposium, Eindhoven,
Netherlands, 201
NimbRo-OP2X: Adult-sized Open-source 3D Printed Humanoid Robot
Humanoid robotics research depends on capable robot platforms, but recently
developed advanced platforms are often not available to other research groups,
expensive, dangerous to operate, or closed-source. The lack of available
platforms forces researchers to work with smaller robots, which have less
strict dynamic constraints or with simulations, which lack many real-world
effects. We developed NimbRo-OP2X to address this need. At a height of 135 cm
our robot is large enough to interact in a human environment. Its low weight of
only 19 kg makes the operation of the robot safe and easy, as no special
operational equipment is necessary. Our robot is equipped with a fast onboard
computer and a GPU to accelerate parallel computations. We extend our already
open-source software by a deep-learning based vision system and gait parameter
optimisation. The NimbRo-OP2X was evaluated during RoboCup 2018 in Montr\'eal,
Canada, where it won all possible awards in the Humanoid AdultSize class.Comment: International Conference on Humanoid Robots (Humanoids), Beijing,
China, 201
Dynamic Locomotion For Passive-Ankle Biped Robots And Humanoids Using Whole-Body Locomotion Control
Whole-body control (WBC) is a generic task-oriented control method for
feedback control of loco-manipulation behaviors in humanoid robots. The
combination of WBC and model-based walking controllers has been widely utilized
in various humanoid robots. However, to date, the WBC method has not been
employed for unsupported passive-ankle dynamic locomotion. As such, in this
paper, we devise a new WBC, dubbed whole-body locomotion controller (WBLC),
that can achieve experimental dynamic walking on unsupported passive-ankle
biped robots. A key aspect of WBLC is the relaxation of contact constraints
such that the control commands produce reduced jerk when switching foot
contacts. To achieve robust dynamic locomotion, we conduct an in-depth analysis
of uncertainty for our dynamic walking algorithm called
time-to-velocity-reversal (TVR) planner. The uncertainty study is fundamental
as it allows us to improve the control algorithms and mechanical structure of
our robot to fulfill the tolerated uncertainty. In addition, we conduct
extensive experimentation for: 1) unsupported dynamic balancing (i.e. in-place
stepping) with a six degree-of-freedom (DoF) biped, Mercury; 2) unsupported
directional walking with Mercury; 3) walking over an irregular and slippery
terrain with Mercury; and 4) in-place walking with our newly designed ten-DoF
viscoelastic liquid-cooled biped, DRACO. Overall, the main contributions of
this work are on: a) achieving various modalities of unsupported dynamic
locomotion of passive-ankle bipeds using a WBLC controller and a TVR planner,
b) conducting an uncertainty analysis to improve the mechanical structure and
the controllers of Mercury, and c) devising a whole-body control strategy that
reduces movement jerk during walking
Investigations of a Robotic Testbed with Viscoelastic Liquid Cooled Actuators
We design, build, and thoroughly test a new type of actuator dubbed
viscoelastic liquid cooled actuator (VLCA) for robotic applications. VLCAs
excel in the following five critical axes of performance: energy efficiency,
torque density, impact resistence, joint position and force controllability. We
first study the design objectives and choices of the VLCA to enhance the
performance on the needed criteria. We follow by an investigation on
viscoelastic materials in terms of their damping, viscous and hysteresis
properties as well as parameters related to the long- term performance. As part
of the actuator design, we configure a disturbance observer to provide
high-fidelity force control to enable a wide range of impedance control
capabilities. We proceed to design a robotic system capable to lift payloads of
32.5 kg, which is three times larger than its own weight. In addition, we
experiment with Cartesian trajectory control up to 2 Hz with a vertical range
of motion of 32 cm while carrying a payload of 10 kg. Finally, we perform
experiments on impedance control and mechanical robustness by studying the
response of the robotics testbed to hammering impacts and external force
interactions.Comment: 11 pages, 10 figure
Assessing Whole-Body Operational Space Control in a Point-Foot Series Elastic Biped: Balance on Split Terrain and Undirected Walking
In this paper we present advancements in control and trajectory generation
for agile behavior in bipedal robots. We demonstrate that Whole-Body
Operational Space Control (WBOSC), developed a few years ago, is well suited
for achieving two types of agile behaviors, namely, balancing on a high pitch
split terrain and achieving undirected walking on flat terrain. The work
presented here is the first implementation of WBOSC on a biped robot, and more
specifically a biped robot with series elastic actuators. We present and
analyze a new algorithm that dynamically balances point foot robots by choosing
footstep placements. Dealing with the naturally unstable dynamics of these type
of systems is a difficult problem that requires both the controller and the
trajectory generation algorithm to operate quickly and efficiently. We put
forth a comprehensive development and integration effort: the design and
construction of the biped system and experimental infrastructure, a
customization of WBOSC for the agile behaviors, and new trajectory generation
algorithms. Using this custom built controller, we conduct, for first time, an
experiment in which a biped robot balances in a high pitch split terrain,
demonstrating our ability to precisely regulate internal forces using force
sensing feedback techniques. Finally, we demonstrate the stabilizing
capabilities of our online trajectory generation algorithm in the physics-based
simulator and through physical experiments with a planarized locomotion setup.Comment: 17 pages, 9 figures, 4 table
Robots as Powerful Allies for the Study of Embodied Cognition from the Bottom Up
A large body of compelling evidence has been accumulated demonstrating that
embodiment - the agent's physical setup, including its shape, materials,
sensors and actuators - is constitutive for any form of cognition and as a
consequence, models of cognition need to be embodied. In contrast to methods
from empirical sciences to study cognition, robots can be freely manipulated
and virtually all key variables of their embodiment and control programs can be
systematically varied. As such, they provide an extremely powerful tool of
investigation. We present a robotic bottom-up or developmental approach,
focusing on three stages: (a) low-level behaviors like walking and reflexes,
(b) learning regularities in sensorimotor spaces, and (c) human-like cognition.
We also show that robotic based research is not only a productive path to
deepening our understanding of cognition, but that robots can strongly benefit
from human-like cognition in order to become more autonomous, robust,
resilient, and safe.Comment: 22 pages, 3 figure
Modeling and Analysis of Walking Pattern for a Biped Robot
This paper addresses the design and development of an autonomous biped robot
using master and worker combination of controllers. In addition, the bot is
wirelessly controllable. The work presented here explains the walking pattern,
system control and actuator control techniques for 10 Degree of Freedom (DOF)
biped humanoid. Bi-pedal robots have better mobility than conventional wheeled
robots, but they tend to topple easily. In order to walk stably in various
environments, such as on rough terrain, up and down slopes, or in regions
containing obstacles, it is necessary, that robot should adapt to the ground
conditions with a foot motion, as well as maintain its stability with a torso
motion. It is desirable to select a walking pattern that requires small torque
and velocity of the joint actuators. The work proposed a low cost solution
using open source hardware-software and application. The work extends to
develop and implement new algorithms by adding gyroscope and accelerometer to
further the research in the field of biped robots
Wait for me! Towards socially assistive walk companions
The aim of the present study involves designing a humanoid robot guide as a
walking trainer for elderly and rehabilitation patients. The system is based on
the humanoid robot Pepper with a compliance approach that allows to match the
motion intention of the user to the robot's pace. This feasibility study is
backed up by an experimental evaluation conducted in a rehabilitation centre.
We hypothesize that Pepper robot used as an assistive partner, can also benefit
elderly users by motivating them to perform physical activity.Comment: 2nd Workshop on Social Robots in Therapy and Care. 14th ACM/IEEE
International Conference on Human-Robot Interaction (HRI 2019
NimbRo-OP2: Grown-up 3D Printed Open Humanoid Platform for Research
The versatility of humanoid robots in locomotion, full-body motion,
interaction with unmodified human environments, and intuitive human-robot
interaction led to increased research interest. Multiple smaller platforms are
available for research, but these require a miniaturized environment to
interact with---and often the small scale of the robot diminishes the influence
of factors which would have affected larger robots. Unfortunately, many
research platforms in the larger size range are less affordable, more difficult
to operate, maintain and modify, and very often closed-source. In this work, we
introduce NimbRo-OP2X, an affordable, fully open-source platform in terms of
both hardware and software. Being almost 135cm tall and only 18kg in weight,
the robot is not only capable of interacting in an environment meant for
humans, but also easy and safe to operate and does not require a gantry when
doing so. The exoskeleton of the robot is 3D printed, which produces a
lightweight and visually appealing design. We present all mechanical and
electrical aspects of the robot, as well as some of the software features of
our well-established open-source ROS software. The NimbRo-OP2X performed at
RoboCup 2017 in Nagoya, Japan, where it won the Humanoid League AdultSize
Soccer competition and Technical Challenge.Comment: International Conference on Humanoid Robots (Humanoids), Birmingham,
England, 201
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