Scaled Autonomy for Networked Humanoids

Humanoid robots have been developed with the intention of aiding in environments designed for humans. As such, the control of humanoid morphology and effectiveness of human robot interaction form the two principal research issues for deploying these robots in the real world. In this thesis work, the issue of humanoid control is coupled with human robot interaction under the framework of scaled autonomy, where the human and robot exchange levels of control depending on the environment and task at hand. This scaled autonomy is approached with control algorithms for reactive stabilization of human commands and planned trajectories that encode semantically meaningful motion preferences in a sequential convex optimization framework. The control and planning algorithms have been extensively tested in the field for robustness and system verification. The RoboCup competition provides a benchmark competition for autonomous agents that are trained with a human supervisor. The kid-sized and adult-sized humanoid robots coordinate over a noisy network in a known environment with adversarial opponents, and the software and routines in this work allowed for five consecutive championships. Furthermore, the motion planning and user interfaces developed in the work have been tested in the noisy network of the DARPA Robotics Challenge (DRC) Trials and Finals in an unknown environment. Overall, the ability to extend simplified locomotion models to aid in semi-autonomous manipulation allows untrained humans to operate complex, high dimensional robots. This represents another step in the path to deploying humanoids in the real world, based on the low dimensional motion abstractions and proven performance in real world tasks like RoboCup and the DRC

Development of an anthropomorphic mobile manipulator with human, machine and environment interaction

An anthropomorphic mobile manipulator robot (CHARMIE) is being developed by the University of Minho's Automation and Robotics Laboratory (LAR). The robot gathers sensorial information and processes using neural networks, actuating in real time. The robot's two arms allow object and machine interaction. Its anthropomorphic structure is advantageous since machines are designed and optimized for human interaction. Sound output allows it to relay information to workers and provide feedback. Allying these features with communication with a database or remote operator results in establishment of a bridge between the physical environment and virtual domain. The goal is an increase in information flow and accessibility. This paper presents the current state of the project, intended features and how it can contribute to the development of Industry 4.0. Focus is given to already finished work, detailing the methodology used for two of the robot's subsystems: locomotion system; lower limbs of the robot.- This project has been supported by the ALGORITMI Research Centre of University of Minho's School of Engineering

A Stability-Estimator to Unify Humanoid Locomotion: Walking, Stair-Climbing and Ladder-Climbing

The field of Humanoid robotics research has often struggled to find a unique niche that is not better served by other forms of robot. Unlike more traditional industrials robots with a specific purpose, a humanoid robot is not necessarily optimized for any particular task, due to the complexity and balance issues of being bipedal. However, the versatility of a humanoid robot may be ideal for applications such as search and rescue. Disaster sites with chemical, biological, or radiation contamination mean that human rescue workers may face untenable risk. Using a humanoid robot in these dangerous circumstances could make emergency response faster and save human lives. Despite the many successes of existing mobile robots in search and rescue, stair and ladder climbing remains a challenging task due to their form. To execute ladder climbing motions effectively, a humanoid robot requires a reliable estimate of stability. Traditional methods such as Zero Moment Point are not applicable to vertical climbing, and do not account for force limits imposed on end-effectors. This dissertation implements a simple contact wrench space method using a linear combination of contact wrenches. Experiments in simulation showed ZMP equivalence on flat ground. Furthermore, the estimator was able to predict stability with four point contact on a vertical ladder. Finally, an extension of the presented method is proposed based on these findings to address the limitations of the linear combination.Ph.D., Mechanical Engineering and Mechanics -- Drexel University, 201

Optimization of Humanoid's Motions under Multiple Constraints in Vehicle-Handling Task

In this dissertation, an approach on whole body motion optimization is presented for humanoid vehicle-handling task. To achieve this goal, the author built a reinforcement-learning-agent based trajectory-optimization framework. The framework planned and optimized a guideline input trajectory with respect to various kinematic and dynamic constraints. A path planner module designed an initial suboptimal motion. Reinforcement learning was then implemented to optimize the trajectories with respect to time-varying constraints at the body and joint level. The cost functions in the body level calculated a robot's static balancing ability, collisions and validity of the end-effector movement. Quasi-static balancing and collisions were computed from kinematic models of the robot and the vehicle. Various costs such as joint angle and velocity limits were computed in the joint level. Energy consumption such as torque limit obedience was also checked at the joint level. Such physical limits of each joint ensured both spatial and temporal smoothness of the generated trajectories. Keeping overall structure of the framework, cost functions and learning algorithm were selected adaptively based on the requirements of given tasks. After the optimization process, experimental tests of the presented approach are demonstrated through simulations using a virtual robot model. Verification-and-validation process then confirmed the efficacy of the optimized trajectory approach using the robot's real physical platform. For both test and verification process, different types of robot and vehicle were used to prove potentials for extension of the trajectory-optimization framework.Ph.D., Mechanical Engineering and Mechanics -- Drexel University, 201

Transport collaboratif d'une charge par un couple humain-robot

Les robots humanoïdes sont particulièrement adaptés à collaborer avec des humains. En effet, leur ressemblance avec l'être humain facilite leur acceptation sociale, et leur structure bipède les aide à fonctionner dans des environements conçus pour les humains. Par contre, cette même structure les rend instables et diffcile à contrôler, particulièrement lors d'interactions physiques avec d'autres acteurs. Ce projet de recherche s'attarde au contrôle de robots humanoïdes impliqués dans de telles tâches collaboratives. On s'intéresse plus particulièrement au transport d'objets lourds par un robot humanoïde et un humain. Pour ce faire, un modèle dynamique simplifié prenant en compte la dynamique de la tâche à accomplir ainsi que les forces appliquées sur le robot est proposé. Celui-ci permet une intégration directe de la compliance des bras et l'utilisation de contraintes dynamiques sur les forces d'interactions. Ce modèle est implémenté à l'aide d'un contrôleur de type Model Predictive Control. Un robot humanoïde de taille humaine (HRP-4) et un robot humanoïde de petite taille (NAO) ont été utilisés en simulation pour montrer les performances et la polyvalence de la méthode proposée, chacun transportant collaborativement des charges surpassant leur masse respective

Technology Trends and Opportunities for Construction Industry and Lifecycle Management

Master's thesis in for Offshore Technology: Industrial Asset ManagementThe purpose of the report is to highlight methods that can make it easier for the construction industry and industry in general to benefit from new technology. The report is intended as a reference to technological solutions that along with some techniques, can streamline workflow for multiple tasks in planning, design, and operation and maintenance management. The problems focused on is how to: • Simplify the procurement and tracing of documentation • Optimize building stages, design, and Life Cycle Management (LCM) • Provide interactions between disciplines and employees using different software Scientific Platform are based on literature within technology trends. Some history and trends in digital technology are presented. Definition of roles and general terms related to documentation is derived from Norsk Standard and is interpreted on this basis. The report charts the use of individual software and technical setup of digital tools within CAD-engineering (Computer Aided Design), HDS-technology (High Definition Surveying), and gaming technology. This technology combined with cloud-services to support planning, design and management of building stages. Later to support LCM of facilities and businesses' ERP-systems (Enterprise Resource Planning). Use of Robotic Process Automation (RPA) and Artificial Intelligence (AI), for document control tasks. The result of the report is that several suppliers provide services and products accessible through web. Setup and implementation will require some work and knowledge for business and organizations, but the gain largely seems to justify the use of resources for this purpose. Particularly through IOT-interactions (Internet of Things), cloud-services and free downloadable applications that may be considered as a paradigm shift related to the issues in the report. Also, presenting new platforms for engineering phases to support Building Information Modeling processes (BIM). With the use of Algorithmic Editors for encoding between computer programs without the need of data programmer expertise. To streamline workflows, reduce recreation of data, interactions between different software of various user level, and support of AI to optimize designing by adds-on for CAD-engineering (Computer Aided Design). Mobile devices like phones and tablets to support several of solutions and products presented is very accessible. It seems naturally to assume that the vast majority of people are familiar with technology related to smartphone applications for daily use. The use of resources for implementing the presented solutions have not been considered in this report. Some of the equipment presented can be interpreted as relatively expensive. Investment analysis would be sensible. The trend however, shows continues price drops and increased availability. At the same time as the user interface is being improved for both software and digital equipment. The conclusion, is that the construction industry, as well as Facility Management (FM). Within both, public, and private sector, can have much to gain using the technology and techniques presented in the report

Battery Management Systems for Firefighting Robots Using Simulation Modeling

The battery management systems for firefighting robots are intended to enable firefighting robots to increase operating time and to effectively extinguish a fire while managing the amount of water in a fire hose and cooperating sub-robots. To increase the operating time by managing the traction power of the firefighting robot, a novel automatic T-valve device and sub-robots were designed and added to fire hoses. The main goal of the battery management systems for firefighting robots is to lower the weight of the fire hose and to increase traction power by working with sub-robots. Whenever a firefighting robot wants to move to other spaces, the battery management systems will remove the water from fire hoses and draw the empty fire hoses by using sub-robots; thus, they are able to help the main firefighting robot to carry lighter hoses and to operate for a longer time. As a result, the battery management systems for firefighting robots enable the firefighting robot to successfully extinguish a fire for a longer time and to efficiently reach the desired destinations. The demonstration will be modeled by a computer simulation program, called AnyLogic®, which can model a fire and fire areas and apply the battery management systems to robots in each fire site