Humanoid robot control of complex postural tasks based on learning from demostration

Mención Internacional en el título de doctorThis thesis addresses the problem of planning and controlling complex tasks in a humanoid robot from a postural point of view. It is motivated by the growth of robotics in our current society, where simple robots are being integrated. Its objective is to make an advancement in the development of complex behaviors in humanoid robots, in order to allow them to share our environment in the future. The work presents different contributions in the areas of humanoid robot postural control, behavior planning, non-linear control, learning from demonstration and reinforcement learning. First, as an introduction of the thesis, a group of methods and mathematical formulations are presented, describing concepts such as humanoid robot modelling, generation of locomotion trajectories and generation of whole-body trajectories. Next, the process of human learning is studied in order to develop a novel method of postural task transference between a human and a robot. It uses the demonstrated action goal as a metrics of comparison, which is codified using the reward associated to the task execution. As an evolution of the previous study, this process is generalized to a set of sequential behaviors, which are executed by the robot based on human demonstrations. Afterwards, the execution of postural movements using a robust control approach is proposed. This method allows to control the desired trajectory even with mismatches in the robot model. Finally, an architecture that encompasses all methods of postural planning and control is presented. It is complemented by an environment recognition module that identifies the free space in order to perform path planning and generate safe movements for the robot. The experimental justification of this thesis was developed using the humanoid robot HOAP-3. Tasks such as walking, standing up from a chair, dancing or opening a door have been implemented using the techniques proposed in this work.Esta tesis aborda el problema de la planificación y control de tareas complejas de un robot humanoide desde el punto de vista postural. Viene motivada por el auge de la robótica en la sociedad actual, donde ya se están incorporando robots sencillos y su objetivo es avanzar en el desarrollo de comportamientos complejos en robots humanoides, para que en el futuro sean capaces de compartir nuestro entorno. El trabajo presenta diferentes contribuciones en las áreas de control postural de robots humanoides, planificación de comportamientos, control no lineal, aprendizaje por demostración y aprendizaje por refuerzo. En primer lugar se desarrollan un conjunto de métodos y formulaciones matemáticas sobre los que se sustenta la tesis, describiendo conceptos de modelado de robots humanoides, generación de trayectorias de locomoción y generación de trayectorias del cuerpo completo. A continuación se estudia el proceso de aprendizaje humano, para desarrollar un novedoso método de transferencia de una tarea postural de un humano a un robot, usando como métrica de comparación el objetivo de la acción demostrada, que es codificada a través del refuerzo asociado a la ejecución de dicha tarea. Como evolución del trabajo anterior, se generaliza este proceso para la realización de un conjunto de comportamientos secuenciales, que son de nuevo realizados por el robot basándose en las demostraciones de un ser humano. Seguidamente se estudia la ejecución de movimientos posturales utilizando un método de control robusto ante imprecisiones en el modelado del robot. Para analizar, se presenta una arquitectura que aglutina los métodos de planificación y el control postural desarrollados en los capítulos anteriores. Esto se complementa con un módulo de reconocimiento del entorno y extracción del espacio libre para poder planificar y generar movimientos seguros en dicho entorno. La justificación experimental de la tesis se ha desarrollado con el robot humanoide HOAP-3. En este robot se han implementado tareas como caminar, levantarse de una silla, bailar o abrir una puerta. Todo ello haciendo uso de las técnicas propuestas en este trabajo.Programa Oficial de Doctorado en Ingeniería Eléctrica, Electrónica y AutomáticaPresidente: Manuel Ángel Armada Rodríguez.- Secretario: Luis Santiago Garrido Bullón.- Vocal: Sylvain Calino

Fractional Control of a Humanoid Robot Reduced Model with Model Disturbances

There is an open discussion between those who defend mass-distributed models for humanoid robots and those in favor of simple concentrated models. Even though each of them has its advantages and disadvantages, little research has been conducted analyzing the control performance due to the mismatch between the model and the real robot, and how the simplifications affect the controller's output. In this article we address this problem by combining a reduced model of the humanoid robot, which has an easier mathematical formulation and implementation, with a fractional order controller, which is robust to changes in the model parameters. This controller is a generalization of the well-known proportional-integral-derivative (PID) structure obtained from the application of Fractional Calculus for control, as will be discussed in this article. This control strategy guarantees the robustness of the system, minimizing the effects from the assumption that the robot has a simple mass distribution. The humanoid robot is modeled and identified as a triple inverted pendulum and, using a gain scheduling strategy, the performances of a classical PID controller and a fractional order PID controller are compared, tuning the controller parameters with a genetic algorithm.The research leading to these results has received funding from the ARCADIA project DPI2010-21047- C02-01, funded by CICYT project grant on behalf of Spanish Ministry of Economy and Competitiveness, and from the RoboCity2030-II-CM project (S2009/DPI-1559), funded by the Research and Development Work Programme of the Community of Madrid and cofunded by Structural Funds of the EU.Publicad

Pezuela de las Torres. Propuestas bioclimáticas en el espacio público

Publicación de los trabajos elaborados por los estudiantes del curso 2019/20 de la asignatura 1602 - La Ciudad y el Medio de la Escuela Técnica Superior de Arquitectura de Madrid de la Universidad Politécnica de Madrid. Muestra una serie de propuestas elaboradas en la asignatura para mejorar bioclimáticamente diferentes espacios públicos municipales en el marco del acuerdo de colaboración académica realizado entre el Departamento de Urbanística y Ordenación del Territorio y el Excmo. Ayuntamiento de Pezuela de Las Torres (Madrid)

Risk of COVID-19 after natural infection or vaccinationResearch in context

Summary: Background: While vaccines have established utility against COVID-19, phase 3 efficacy studies have generally not comprehensively evaluated protection provided by previous infection or hybrid immunity (previous infection plus vaccination). Individual patient data from US government-supported harmonized vaccine trials provide an unprecedented sample population to address this issue. We characterized the protective efficacy of previous SARS-CoV-2 infection and hybrid immunity against COVID-19 early in the pandemic over three-to six-month follow-up and compared with vaccine-associated protection. Methods: In this post-hoc cross-protocol analysis of the Moderna, AstraZeneca, Janssen, and Novavax COVID-19 vaccine clinical trials, we allocated participants into four groups based on previous-infection status at enrolment and treatment: no previous infection/placebo; previous infection/placebo; no previous infection/vaccine; and previous infection/vaccine. The main outcome was RT-PCR-confirmed COVID-19 >7–15 days (per original protocols) after final study injection. We calculated crude and adjusted efficacy measures. Findings: Previous infection/placebo participants had a 92% decreased risk of future COVID-19 compared to no previous infection/placebo participants (overall hazard ratio [HR] ratio: 0.08; 95% CI: 0.05–0.13). Among single-dose Janssen participants, hybrid immunity conferred greater protection than vaccine alone (HR: 0.03; 95% CI: 0.01–0.10). Too few infections were observed to draw statistical inferences comparing hybrid immunity to vaccine alone for other trials. Vaccination, previous infection, and hybrid immunity all provided near-complete protection against severe disease. Interpretation: Previous infection, any hybrid immunity, and two-dose vaccination all provided substantial protection against symptomatic and severe COVID-19 through the early Delta period. Thus, as a surrogate for natural infection, vaccination remains the safest approach to protection. Funding: National Institutes of Health