Survey on human–robot collaboration in industrial settings: Safety, intuitive interfaces and applications

This article presents the mechatronic design of the autonomous humanoid robot called NAO that is built by the French company Aldebaran-Robotics. With its height of 0.57 m and its weight about 4.5 kg, this innovative robot is lightweight and compact. It distinguishes itself from existing humanoids thanks to its pelvis kinematics design, its proprietary actuation system based on brush DC motors, its electronic, computer and distributed software architectures. This robot has been designed to be affordable without sacrificing quality and performance. It is an open and easy-to-handle platform. The comprehensive and functional design is one of the reasons that helped select NAO to replace the AIBO quadrupeds in the 2008 RoboCup standard league.

Mechatronic design of NAO humanoid

A new humanoid robot-WABIAN-2- that can be used as a human motion simulator is proposed in this paper. Its trunk is designed in order to permit rotation, and forward, backward, and sideway movement. Further, its arms are designed to support its complete weight when pushing a walk-assist machine. Moreover, it can lean on a walk-assist machine by forearm control using trunk motion. Basic walking experiments with WABIAN-2 are conducted with and without a walk-assist machine, thereby confirming its effectiveness

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Development of a new humanoid robot WABIAN-2

In this paper, the concept of divergent component of motion (DCM, also called “Capture Point”) is extended to 3-D. We introduce the “Enhanced Centroidal Moment Pivot point” (eCMP) and the “Virtual Repellent Point” (VRP), which allow for the encoding of both direction and magnitude of the external forces and the total force (i.e., external plus gravitational forces) acting on the robot. Based on eCMP, VRP, and DCM, we present methods for real-time planning and tracking control of DCM trajectories in 3-D. The basic DCM trajectory generator is extended to produce continuous leg force profiles and to facilitate the use of toe-off motion during double support. The robustness of the proposed control framework is thoroughly examined, and its capabilities are verified both in simulations and experiments.

Three-Dimensional Bipedal Walking Control Based on Divergent Component of Motion

https://hal.archives-ouvertes.fr/hal-01676474/document

Models, feedback control, and open problems of 3D bipedal robotic walking

A humanoid robot, WABIAN-2R, capable of human-like walk with stretched knees and heel-contact and toe-off motions is proposed in this paper. WABIAN-2R has two 1-DOF passive joints in its feet to enable it to bend its toes in steady walking. Further, it has two 6-DOF legs, a 2-DOF pelvis, a 2-DOF trunk, two 7-DOF arms with 3-DOF hands, and a 3-DOF neck. In addition, a new algorithm for generating walking patterns with stretched knees and heel-contact and toe-off motions based on the ZMP criterion is described. In this pattern generation, some parameters of the foot trajectories of a biped robot are optimized by using a genetic algorithm in order to generate a continuous and smooth leg motion. Software simulations and walking experiments are conducted, and the effectiveness of the pattern generation and mechanism of WABIAN-2R, which have the ability to realize more human-like walking styles in a humanoid robot, are confirmed.

Human-like walking with knee stretched, heel-contact and toe-off motion by a humanoid robot

Almost all conventional biped humanoid robots have difficulties in realizing various walking motions such as knee stretch walking like a human because of an insufficiency of DOF. Therefore, we have developed a 16-DOF biped humanoid robot without a trunk: 3-DOF in each ankle, 1-DOF in each knee, 3-DOF in each hip and 2-DOF in the waist. Using the biped robot, basic experiments are conducted and the effectiveness of the leg mechanism is confirmed.

Development of a human-like walking robot having two 7-DOF legs and a 2-DOF waist

This paper describes a method of motion pattern generation for biped humanoid robot to walk like humans or walk with various kind of motions. To realize biped walking avoiding singularity at stretching leg, pattern generation uses predetermined knee joint trajectories. Reduction of DOF by predetermination is complemented by waist motion. The effectiveness of generated dynamic walking patterns is confirmed by using a 16-DOF biped robot WABIAN-2/LL.

A novel method of biped walking pattern generation with predetermined knee joint motion

This paper describes the evaluation of three different walking patterns of a biped humanoid robot. Stretch-walking patterns with straight legs for a biped robot are compared with conventional walking patterns with bent legs in terms of energy consumption. This paper discusses walking pattern generation for various walks. To confirm the walking pattern evaluation, we have developed a biped robot, WABIAN-2/LL, whose leg mechanism differs from the conventional leg mechanism that has 3 DOF (degrees of freedom) in each ankle, 1 DOF in each knee, 3 DOF in each hip, and 2 DOF in the waist. Walking experiments are conducted with WABIAN-2/LL, and the results demonstrate that stretch walking patterns are effective in terms of energy consumption.

Yu Ogura

Papers

Development of a new humanoid robot WABIAN-2

Human-like walking with knee stretched, heel-contact and toe-off motion by a humanoid robot

Development of a human-like walking robot having two 7-DOF legs and a 2-DOF waist

A novel method of biped walking pattern generation with predetermined knee joint motion

Evaluation of Various Walking Patterns of Biped Humanoid Robot