Design and development of a humanoid with articulated torso
01 Dec 2016-pp 1-5
TL;DR: 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.
Citations
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01 Nov 2018
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.
Abstract: Performing dual arm coordinated (reachability)tasks in humanoid robots require complex planning strategies and this complexity increases further, in case of humanoids with articulated torso. These complex strategies may not be suitable for online motion planning. This paper proposes a faster way to accomplish dual arm coordinated tasks using methodology based on Reinforcement Learning. The contribution of this paper is twofold. Firstly, we propose DiGrad (Differential Gradients), a new RL framework for multi-task learning in manipulators. Secondly, we show how this framework can be adopted to learn dual arm coordination in a 27 degrees of freedom (DOF)humanoid robot with articulated spine. The proposed framework and methodology are evaluated in various environments and simulation results are presented. A comparative study of DiGrad with its parent algorithm in different settings is also presented.
2Â citations
Cites methods from "Design and development of a humanoi..."
...Secondly, we apply the proposed framework to learn the dual arm coordinated tasks in a 27 DoF humanoid robot with articulated torso [23] (Fig....
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...We test our framework on a 27 DOF humanoid robot [23] shown in Fig....
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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.
Abstract: In this paper, laboratory experiments of LARMbot torso V1 are reported in the third mode, thereby providing a testing characterization. Sensors were used to measure parameters including the contact force between the shoulder and cables, linear acceleration, angles of the torso body, and power consumption. The results showed that the LARMbot torso V1 can bend successfully to the desired angles, and that it is able to complete a full motion smoothly. The LARMbot torso V1 can mimic human-like motiaons. Based on our analysis of the test results, improvements are suggested, and new designs are considered.
1Â citations
Posted Content•
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.
Abstract: With the advent of artificial intelligence and machine learning, humanoid robots are made to learn a variety of skills which humans possess. One of fundamental skills which humans use in day-to-day activities is performing tasks with coordination between both the hands. In case of humanoids, learning such skills require optimal motion planning which includes avoiding collisions with the surroundings. In this paper, we propose a framework to learn coordinated tasks in cluttered environments based on DiGrad - A multi-task reinforcement learning algorithm for continuous action-spaces. Further, we propose an algorithm to smooth the joint space trajectories obtained by the proposed framework in order to reduce the noise instilled during training. The proposed framework was tested on a 27 degrees of freedom (DoF) humanoid with articulated torso for performing coordinated object-reaching task with both the hands in four different environments with varying levels of difficulty. It is observed that the humanoid is able to plan collision free trajectory in real-time. Simulation results also reveal the usefulness of the articulated torso for performing tasks which require coordination between both the arms.
References
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30 Sep 2002
TL;DR: This paper describes the design and control of Kenta, a whole-body tendon-driven flexible-spine humanoid named "Kenta" that consists of ten joints, vertebrae and rubber disks, ribs, and forty muscles equipped with tension sensors.
Abstract: We are trying to realize a humanoid which has flexibility. If humanoids have a flexible structure, safety and posture variety can be achieved. We focus on the role of the human spine and muscle-driven system. By having a flexible spine, a humanoid will have safety and many degrees of freedom to realize a variety of postures. By driving joints by tension-controllable tendons, flexibility of the joints can be controlled. We developed a whole-body tendon-driven flexible-spine humanoid named "Kenta". This paper describes the design and control of Kenta, focusing on the design of the spine. The spine consists of ten joints, vertebrae and rubber disks, ribs, and forty muscles equipped with tension sensors. We also propose control methods of the spine. One uses a geometric virtual robot model and another is based on direct teaching. Using these methods, some whole-body motions are presented.
107Â citations
Additional excerpts
...5 83 25 5 Wabian [12] 64 150 41 2 Kenta [13] 19 123 80 30 Robota[14] 1....
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01 Nov 2011
TL;DR: An exploration of current trends in control methods of biped walks, behavior interface tools for motion control for NAO and imminent findings in both research areas are discussed.
Abstract: Humanoids; a most intriguing subject to behold by both the engineers and the world at large. With the introduction of humanoid robot NAO by Aldebaran-Robotics in 2008, a performant biped robot is now available and affordable for research laboratories and the mass market. In this paper, an exploration of current trends in control methods of biped walks, behavior interface tools for motion control for NAO and imminent findings in both research areas are discussed. Future directions are for researchers to devise a unique controller with low power consumption without compromising the robot's speed and robustness.
85Â citations
10 Dec 2002
TL;DR: The mechanisms and specifications of the leg module, the electrical system, the simulation results utilized for deciding specifications, and some experimental results are presented.
Abstract: This paper presents an advanced leg module developed for HRP-2, a new humanoid robotics platform, which has been developed in phase two of the Humanoid Robotics Project (HRP), a five year program sponsored by the Ministry of Economy, Trade and Industry of Japan (METI) from 1998FY to 2002FY. The biped locomotion ability of HRP-1, the humanoid robotics platform developed in phase I is to be improved so that HRP-2 can cope with rough terrain and can prevent possible damage to the robot body caused by tipping over. In this paper, the mechanisms and specifications of the leg module, the electrical system, the simulation results utilized for deciding specifications, and some experimental results are presented.
67Â citations
"Design and development of a humanoi..." refers methods in this paper
...As technology is advancing, precise and multi-directional force and torque sensors can be used to obtain ZMP information, for instance, 6 Degree of freedom (DOF) force and torque sensor made by Nitta Corp that is used in HRP-2 [6]....
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17 Sep 2014
TL;DR: Poppyist as discussed by the authors is an open-source 3D printed humanoid platform that allows scientists, students, geeks, en- gineers or artists to explore fast and easily the fabrication and program- ming of various robotic morphologies.
Abstract: Poppyisthefirstcompleteopen-source3Dprintedhumanoid platform. Robust and accessible, it allows scientists, students, geeks, en- gineers or artists to explore fast and easily the fabrication and program- ming of various robotic morphologies. Both hardware and software are open-source, and a web platform allows interdisciplinary contributions, sharing and collaborations.
67Â citations
"Design and development of a humanoi..." refers background or methods in this paper
...1, is a modified form of the robot used in the Poppy project [11]....
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...The above discussed change also constitutes changes in geometry and design of the whole body to make space for these motors and make the links stronger for higher load carrying capacity, while still retaining the necessary bend in the legs [11], which allows closer placement of CoM in the support polygon for greater stability....
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TL;DR: In what must be the biggest public display of robot adoration and empathy ever witnessed, thousands cheered as the team from the Korea Advanced Institute of Science and Technology (KAIST) won the DARPA Robotics Challenge (DRC) in Pomona, Calif., on 6 June as discussed by the authors.
Abstract: In what must be the biggest public display of robot adoration and empathy ever witnessed, thousands cheered as the team from the Korea Advanced Institute of Science and Technology (KAIST) won the DARPA Robotics Challenge (DRC) in Pomona, Calif., on 6 June. Its robot, an adaptable humanoid called DRC-Hubo, beat out 22 other bots from six countries in a two-day competition organized with the aim of advancing the field of disaster robotics. The team from KAIST, which is in Daejeon, South Korea, walked away from the competition with the US $2 million grand prize.
58Â citations
"Design and development of a humanoi..." refers background in this paper
...None of these robots took the help of surrounding environment to increase support polygon area [15]....
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