133 research outputs found
A Model Predictive Capture Point Control Framework for Robust Humanoid Balancing via Ankle, Hip, and Stepping Strategies
The robust balancing capability of humanoid robots against disturbances has
been considered as one of the crucial requirements for their practical mobility
in real-world environments. In particular, many studies have been devoted to
the efficient implementation of the three balance strategies, inspired by human
balance strategies involving ankle, hip, and stepping strategies, to endow
humanoid robots with human-level balancing capability. In this paper, a robust
balance control framework for humanoid robots is proposed. Firstly, a novel
Model Predictive Control (MPC) framework is proposed for Capture Point (CP)
tracking control, enabling the integration of ankle, hip, and stepping
strategies within a single framework. Additionally, a variable weighting method
is introduced that adjusts the weighting parameters of the Centroidal Angular
Momentum (CAM) damping control over the time horizon of MPC to improve the
balancing performance. Secondly, a hierarchical structure of the MPC and a
stepping controller was proposed, allowing for the step time optimization. The
robust balancing performance of the proposed method is validated through
extensive simulations and real robot experiments. Furthermore, a superior
balancing performance is demonstrated, particularly in the presence of
disturbances, compared to a state-of-the-art Quadratic Programming (QP)-based
CP controller that employs the ankle, hip, and stepping strategies. The
supplementary video is available at https://youtu.be/CrD75UbYzdcComment: 19 pages,13 figure
Torque-based Deep Reinforcement Learning for Task-and-Robot Agnostic Learning on Bipedal Robots Using Sim-to-Real Transfer
In this paper, we review the question of which action space is best suited
for controlling a real biped robot in combination with Sim2Real training.
Position control has been popular as it has been shown to be more sample
efficient and intuitive to combine with other planning algorithms. However, for
position control gain tuning is required to achieve the best possible policy
performance. We show that instead, using a torque-based action space enables
task-and-robot agnostic learning with less parameter tuning and mitigates the
sim-to-reality gap by taking advantage of torque control's inherent compliance.
Also, we accelerate the torque-based-policy training process by pre-training
the policy to remain upright by compensating for gravity. The paper showcases
the first successful sim-to-real transfer of a torque-based deep reinforcement
learning policy on a real human-sized biped robot. The video is available at
https://youtu.be/CR6pTS39VRE
Medium-scale traveling ionospheric disturbances observed with CHAMP
第3回極域科学シンポジウム/第36回極域宙空圏シンポジウム 11月26日(月)、27日(火) 国立極地研究所 2階ラウン
Proprioceptive External Torque Learning for Floating Base Robot and its Applications to Humanoid Locomotion
The estimation of external joint torque and contact wrench is essential for
achieving stable locomotion of humanoids and safety-oriented robots. Although
the contact wrench on the foot of humanoids can be measured using a
force-torque sensor (FTS), FTS increases the cost, inertia, complexity, and
failure possibility of the system. This paper introduces a method for learning
external joint torque solely using proprioceptive sensors (encoders and IMUs)
for a floating base robot. For learning, the GRU network is used and random
walking data is collected. Real robot experiments demonstrate that the network
can estimate the external torque and contact wrench with significantly smaller
errors compared to the model-based method, momentum observer (MOB) with
friction modeling. The study also validates that the estimated contact wrench
can be utilized for zero moment point (ZMP) feedback control, enabling stable
walking. Moreover, even when the robot's feet and the inertia of the upper body
are changed, the trained network shows consistent performance with a
model-based calibration. This result demonstrates the possibility of removing
FTS on the robot, which reduces the disadvantages of hardware sensors. The
summary video is available at https://youtu.be/gT1D4tOiKpo.Comment: Accepted by 2023 IROS conferenc
Scale analysis of equatorial plasma irregularities derived from Swarm constellation
In this study, we investigated the scale sizes of equatorial plasma irregularities (EPIs) using measurements from the Swarm satellites during its early mission and final constellation phases. We found that with longitudinal separation between Swarm satellites larger than 0.4°, no significant correlation was found any more. This result suggests that EPI structures include plasma density scale sizes less than 44 km in the zonal direction. During the Swarm earlier mission phase, clearly better EPI correlations are obtained in the northern hemisphere, implying more fragmented irregularities in the southern hemisphere where the ambient magnetic field is low. The previously reported inverted-C shell structure of EPIs is generally confirmed by the Swarm observations in the northern hemisphere, but with various tilt angles. From the Swarm spacecrafts with zonal separations of about 150 km, we conclude that larger zonal scale sizes of irregularities exist during the early evening hours (around 1900 LT)
GNSS Scintillations in the Cusp, and the Role of Precipitating Particle Energy Fluxes
Using a large data set of ground-based GNSS scintillation observations coupled with in situ particle detector data, we perform a statistical analysis of both the input energy flux from precipitating particles, and the observed occurrence of density irregularities in the northern hemisphere cusp. By examining trends in the two data sets relating to geomagnetic activity, we conclude that observations of irregularities in the cusp grows increasingly likely during storm-time, whereas the precipitating particle energy flux does not. We thus find a weak or nonexistent statistical link between geomagnetic activity and precipitating particle energy flux in the cusp. This is a result of a previously documented tendency for the cusp energy flux to maximize during northward IMF, when density irregularities tend not to be widespread, as we demonstrate. At any rate, even though ionization and subsequent density gradients directly caused by soft electron precipitation in the cusp are not to be ignored for the trigger of irregularities, our results point to the need to scrutinize additional physical processes for the creation of irregularities causing scintillations in and around the cusp. While numerous phenomena known to cause density irregularities have been identified and described, there is a need for a systematic evaluation of the conditions under which the various destabilizing mechanisms become important and how they sculpt the observed ionospheric “irregularity landscape.” As such, we call for a quantitative assessment of the role of particle precipitation in the cusp, given that other factors contribute to the production of irregularities in a major way
Steepening Plasma Density Spectra in the Ionosphere: The Crucial Role Played by a Strong E-Region
Based on the Swarm 16 Hz Advanced Plasma Density data set, and using the Swarm A satellite, we apply automatic detection of spectral breaks in seven million sampled plasma density power spectra in the high-latitude F-region ionosphere. This way, we survey the presence of plasma irregularity dissipation due to an enhanced E-region conductance, caused both by solar photoionization and particle precipitation. We introduce a new quantity named the steepening slope index (SSI) which we use to estimate the occurrence rate of break-points in sampled plasma densities. We provide an interpretation of SSI in the context of solar photoionization-induced conductance enhancements of the E-region. We present a comprehensive climatology of the SSI occurrence rate, along with statistics documenting characteristic high-latitude plasma density spectra. In the absence of steepening, the typical spectral index is 2.1. When density spectra steepen, the index is typically 1.6 at large scales, and 2.7 at small scales. We discuss the impact of high-energy deeply penetrating electron precipitation in the diffuse aurora, and precipitating electrons in the aurora at large. Here, a key finding is that near the cusp, where the F-region conductance is enhanced, spectra tend not to steepen. We find that both the diffuse and discrete aurora are modulating F-region plasma irregularity dissipation through an enhancement of E-region conductance, highlighting the role played by factors other than solar zenith angle in high-latitude plasma dynamics. The influence of E-region conductance on spectral shapes indicates the need for a new discussion of how particle precipitation can structure the local winter high-latitude F-region ionosphere
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