Data Mining Practical Machine Learning Tools and Techniques

A translation apparatus is provided which comprises: an inputting section for inputting a source document in a natural language; a layout analyzing section for analyzing layout information including cascade information, itemization information, numbered itemization information, labeled itemization information and separator line information in the source document inputted by the inputting section and specifying a translation range on the basis of the layout information; a translation processing section for translating a source document text in the specified translation range into a second language; and an outputting section for outputting a translated text provided by the translation processing section.

Automated Planning: Theory and Practice.

This paper describes a collection of optimization algorithms for achieving dynamic planning, control, and state estimation for a bipedal robot designed to operate reliably in complex environments. To make challenging locomotion tasks tractable, we describe several novel applications of convex, mixed-integer, and sparse nonlinear optimization to problems ranging from footstep placement to whole-body planning and control. We also present a state estimator formulation that, when combined with our walking controller, permits highly precise execution of extended walking plans over non-flat terrain. We describe our complete system integration and experiments carried out on Atlas, a full-size hydraulic humanoid robot built by Boston Dynamics, Inc.

Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot

Hierarchical least-square optimization is often used in robotics to inverse a direct function when multiple incompatible objectives are involved. Typical examples are inverse kinematics or dynamics. The objectives can be given as equalities to be satisfied e.g. point-to-point task or as areas of satisfaction e.g. the joint range. This paper proposes a complete solution to solve multiple least-square quadratic problems of both equality and inequality constraints ordered into a strict hierarchy. Our method is able to solve a hierarchy of only equalities 10 times faster than the iterative-projection hierarchical solvers and can consider inequalities at any level while running at the typical control frequency on whole-body size problems. This generic solver is used to resolve the redundancy of humanoid robots while generating complex movements in constrained environments.

/pdf/hierarchical-quadratic-programming-5e14hy8pw1.pdf

Hierarchical quadratic programming

Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems 参加報告

The most widely used technique for generating whole-body motions on a humanoid robot accounting for various tasks and constraints is inverse kinematics. Based on the task-function approach, this class of methods enables the coordination of robot movements to execute several tasks in parallel and account for the sensor feedback in real time, thanks to the low computation cost. To some extent, it also enables us to deal with some of the robot constraints (e.g., joint limits or visibility) and manage the quasi-static balance of the robot. In order to fully use the whole range of possible motions, this paper proposes extending the task-function approach to handle the full dynamics of the robot multibody along with any constraint written as equality or inequality of the state and control variables. The definition of multiple objectives is made possible by ordering them inside a strict hierarchy. Several models of contact with the environment can be implemented in the framework. We propose a reduced formulation of the multiple rigid planar contact that keeps a low computation cost. The efficiency of this approach is illustrated by presenting several multicontact dynamic motions in simulation and on the real HRP-2 robot.

/pdf/dynamic-whole-body-motion-generation-under-rigid-contacts-3iumzzeepu.pdf

Dynamic Whole-Body Motion Generation Under Rigid Contacts and Other Unilateral Constraints

We describe the research and the integration methods we developed to make the HRP-2 humanoid robot climb vertical industrial-norm ladders. We use our multi-contact planner and multi-objective closed-loop control formulated as a QP (quadratic program). First, a set of contacts to climb the ladder is planned off-line (automatically or by the user). These contacts are provided as an input for a finite state machine. The latter builds supplementary tasks that account for geometric uncertainties and specific grasps procedures to be added to the QP controller. The latter provides instant desired states in terms of joint accelerations and contact forces to be tracked by the embedded low-level motor controllers. Our trials revealed that hardware changes are necessary, and parts of software must be made more robust. Yet, we confirmed that HRP-2 has the kinematic and power capabilities to climb real industrial ladders, such as those found in nuclear power plants and large scale manufacturing factories (e.g. aircraft, shipyard) and construction sites.

/pdf/multi-contact-vertical-ladder-climbing-with-an-hrp-2-33v6rqqi7q.pdf

Multi-contact vertical ladder climbing with an HRP-2 humanoid

In this paper, we propose a control scheme that allows a humanoid robot to perform a complex transportation scenario jointly with a human partner. At first, the robot guesses the human partner's intentions to proactively participate to the task. In a second phase, the human-robot dyad switches roles: the robot takes over the leadership of the task to complete the scenario. During this last phase, the robot is remotely controlled with a joystick. The scenario is realized on a real HRP-2 humanoid robot to assess the overall approach.

/pdf/proactive-behavior-of-a-humanoid-robot-in-a-haptic-53odnd67hx.pdf

Proactive behavior of a humanoid robot in a haptic transportation task with a human partner

In this paper, we propose a control scheme that allows a humanoid robot to perform a transportation task jointly with a human partner. From the study of how human dyads achieve such a task, we have developed a control law for physical interaction that unifies standalone and collaborative (leader and follower) modes for trajectory-based tasks. We present it in the case of a linear impedance controller but it can be generalized to more complex impedances. Desired trajectories are decomposed into sequences of elementary motion primitives. We implemented this model with a Finite State Machine associated with a reactive pattern generator. First experiments conducted on a real HRP-2 humanoid robot assess the overall approach.

/pdf/human-humanoid-haptic-joint-object-transportation-case-study-7i7qywp805.pdf

Human-humanoid haptic joint object transportation case study

We study the feasibility of having various humanoid robots undertake some tasks from those challenged by the DARPA's call on disaster operations. Hence, we focus on locomotion tasks that apparently require human-like motor skills to be achieved. We use virtual scenes under the fully-3D-modeled-environment assumption. The robot autonomously plans and executes the motion with a high-level goal specification, such as reaching a global position or a particular contact state. We assess the feasibility according not only to the robot kinematics, but also to whole-body dynamics, non-desired collision avoidance, friction limits, and actuation limits. The results -the controlled motions- are demonstrated in the accompanying video.

https://hal-lirmm.ccsd.cnrs.fr/lirmm-00765817/document

François Keith

Papers

Dynamic Whole-Body Motion Generation Under Rigid Contacts and Other Unilateral Constraints

Multi-contact vertical ladder climbing with an HRP-2 humanoid

Proactive behavior of a humanoid robot in a haptic transportation task with a human partner

Human-humanoid haptic joint object transportation case study

Exploring humanoid robots locomotion capabilities in virtual disaster response scenarios