Multi-contact planning and control for humanoid robots: Design and validation of a complete framework

In this paper, we consider the problem of generating appropriate motions for a torque- controlled humanoid robot that is assigned a multi-contact loco-manipulation task, i.e., a task that requires the robot to move within the environment by repeatedly establishing and breaking multiple, non-coplanar contacts. To this end, we present a complete multi-contact planning and control framework for multi-limbed robotic systems, such as humanoids. The planning layer works offline and consists of two sequential modules: first, a stance planner computes a sequence of feasible contact combinations; then, a whole-body planner finds the sequence of collision-free humanoid motions that realize them while respecting the physical limitations of the robot. For the challenging problem posed by the first stage, we propose a novel randomized approach that does not require the specification of pre-designed potential contacts or any kind of pre-computation. The control layer produces online torque commands that enable the humanoid to execute the planned motions while guaranteeing closed-loop balance. It relies on two modules, i.e., the stance switching and reactive balancing module; their combined action allows it to withstand possible execution inaccuracies, external disturbances, and modeling uncertainties. Numerical and experimental results obtained on COMAN+, a torque-controlled humanoid robot designed at Istituto Italiano di Tecnologia, validate our framework for loco-manipulation tasks of different complexity

Safe trajectory optimization for whole-body motion of humanoids

International audienceMulti-task prioritized controllers generate complex behaviors for humanoids that concurrently satisfy several tasks and constraints. In our previous work we automatically learned the task priorities that maximized the robot performance in whole-body reaching tasks, ensuring that the optimized priorities were leading to safe behaviors. Here, we take the opposite approach: we optimize the task trajectories for whole-body balancing tasks with switching contacts, ensuring that the optimized movements are safe and never violate any of the robot and problem constraints. We use (1+1)-CMA-ES with Constrained Covariance Adaptation as a constrained black box stochastic optimization algorithm, with an instance of (1+1)-CMA-ES for bootstrapping the search. We apply our learning framework to the prioritized whole-body torque controller of iCub, to optimize the robot's movement for standing up from a chair

NKp46-expressing human gut-resident intraepithelial V\u3b41 T cell subpopulation exhibits high anti-tumor activity against colorectal cancer

\u3b3\u3b4 T cells account for a large fraction of human intestinal intraepithelial lymphocytes (IELs) endowed with potent anti-tumor activities. However, little is known about their origin, phenotype and clinical relevance in colorectal cancer (CRC). To determine \u3b3\u3b4 IEL gut-specificity, homing and functions, \u3b3\u3b4 T cells were purified from human healthy blood, lymph nodes, liver, skin, intestine either disease-free or affected by CRC or generated from thymic precursors. The constitutive expression of NKp46 specifically identifies a new subset of cytotoxic V\u3b41 T cells representing the largest fraction of gut-resident IELs. The ontogeny and gut-tropism of NKp46pos/V\u3b41 IELs depends both on distinctive features of V\u3b41 thymic precursors and gut-environmental factors. Either the constitutive presence of NKp46 on tissue-resident V\u3b41 intestinal IELs or its induced-expression on IL-2/IL-15 activated V\u3b41 thymocytes are associated with anti-tumor functions. Higher frequencies of NKp46pos/V\u3b41 IELs in tumor-free specimens from CRC patients correlate with a lower risk of developing metastatic III/IV disease stages. Additionally, our in vitro settings reproducing CRC tumor-microenvironment inhibited the expansion of NKp46pos/V\u3b41 cells from activated thymic precursors. These results parallel the very low frequencies of NKp46pos/V\u3b41 IELs able to infiltrate CRC, thus providing new insights to either follow-up cancer progression or develop novel adoptive cellular therapies