Proceedings ArticleDOI
Design and development of a humanoid with articulated torso
Divyanshu Goel,S. Phani Teja,Parijat Dewangan,Suril V. Shah,Abhishek Sarkar,K. Madhava Krishna +5 more
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TLDR
The model of a Humanoid robot inspired by Poppy, modified for heavier load capacity and the balancing of humanoid in multiple work environments, modified in order to use MX-64 servos with more torque capacity than MX-28 servos.Abstract:
The purpose of this paper is to present the model of a Humanoid robot inspired by Poppy, modified for heavier load capacity and the balancing of humanoid in multiple work environments. The design has been modified in order to use MX-64 servos with more torque capacity than MX-28 servos which were used in original design. We have also redesigned the ankle joint and feet to make it a more accurate human like model. We are using an integrated approach using zero moment point (ZMP) with force sensing resistor (FSR) and center of mass (CoM) to find balance margins of the robot. Balancing and forward bending experiments on robot are conducted by providing some basic motion to the robot and ensuring that the robot is balanced and moving within safe margins using this approach.read more
Citations
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Proceedings ArticleDOI
Learning Dual Arm Coordinated Reachability Tasks in a Humanoid Robot with Articulated Torso
TL;DR: This paper proposes DiGrad (Differential Gradients), a new RL framework for multi-task learning in manipulators and shows how this framework can be adopted to learn dual arm coordination in a 27 degrees of freedom (DOF) humanoid robot with articulated spine.
Journal ArticleDOI
Design and Performance Analysis of LARMbot Torso V1
Wen Jie Gao,Marco Ceccarelli +1 more
TL;DR: In this article , the LARMbot torso V1 can bend successfully to the desired angles, and it is able to complete a full motion smoothly, and new designs are suggested, based on the analysis of the test results.
Posted Content
Learning Coordinated Tasks using Reinforcement Learning in Humanoids.
TL;DR: A framework to learn coordinated tasks in cluttered environments based on DiGrad - A multi-task reinforcement learning algorithm for continuous action-spaces is proposed and it is observed that the humanoid is able to plan collision free trajectory in real-time.
References
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Human balance and posture control during standing and walking
TL;DR: The inverted pendulum model permitted us to understand the separate roles of the two mechanisms during these critical unbalancing and rebalancing periods and confirmed the critical importance of the hip abductors/adductors in balance during all phases of standing and walking.
Journal ArticleDOI
Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot
Scott Kuindersma,Robin Deits,Maurice Fallon,Andres Valenzuela,Hongkai Dai,Frank Noble Permenter,Twan Koolen,Pat Marion,Russ Tedrake +8 more
TL;DR: 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 and presents a state estimator formulation that permits highly precise execution of extended walking plans over non-flat terrain.
Journal ArticleDOI
On the stability of anthropomorphic systems
TL;DR: In this paper, the authors treat definitions, dynamic aspects, and stability concepts of anthropomorphic systems, and give some characteristic schemes of perturbed steady-gait regime stabilization for two-legged systems.
Proceedings ArticleDOI
The iCub humanoid robot: an open platform for research in embodied cognition
TL;DR: The iCub is a humanoid robot for research in embodied cognition that will be able to crawl on all fours and sit up to manipulate objects and its hands have been designed to support sophisticate manipulation skills.
Journal ArticleDOI
Forces acting on a biped robot. Center of pressure-zero moment point
Philippe Sardain,G. Bessonnet +1 more
TL;DR: A virtual CoP-ZMP is defined, allowing us to extend the concept when walking on uneven terrain, and analyzing the evolution of the ground contact forces obtained from a human walker wearing robot feet as shoes.