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
More filters
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.
2 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....
[...]
...We test our framework on a 27 DOF humanoid robot [23] shown in Fig....
[...]
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.
1 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
More filters
05 Dec 2011
TL;DR: This paper presents the humanoid robot Acroban and investigates the use of compliance to design semi-passive motor primitives using the torso and the arms as a system of accumulation/release of potential/kinetic energy.
Abstract: This paper presents the humanoid robot Acroban. We study two main issues: 1) Compliance and semi-passive dynamics for locomotion of humanoid robots regarding robustness against unknown external perturbations; 2) The advantages of a bio-inspired multi-articulated vertebral column. We combine mechatronic compliance with structural compliance due to the use of flexible materials. And we explore how these capabilities allow to enforce morphological computation in the design of robust dynamic locomotion. We also investigate the use of compliance to design semi-passive motor primitives using the torso and the arms as a system of accumulation/release of potential/kinetic energy.
23 citations
10 Dec 2007
TL;DR: The Dynamic Anthropomorphic Robot with Intelligence (DARwIn), a humanoid robot, is a sophisticated hardware platform used for studying bipedal gaits that has evolved over time and has artificial intelligence.
Abstract: The Dynamic Anthropomorphic Robot with Intelligence (DARwIn), a humanoid robot, is a sophisticated hardware platform used for studying bipedal gaits that has evolved over time. Three version of DARwIn have been developed, each an improvement on its predecessor. The first version, DARwIn 0.0, was used as a design study to determine the feasibility of creating a small-scale humanoid robot. The second version, DARwIn 1.0, used improved gaits and software. The third version, DARwIn 2.0 has not only even better gaits and control software, but also has artificial intelligence. The platform is primarily used as a research tool for studying bipedal and humanoid locomotion. Additionally, DARwIn 2.0 has been tailored for the international autonomous robot soccer competition, Robocup.
19 citations
Posted Content•
TL;DR: FreeIMU, an Open Hardware Framework for prototyping orientation and motion sensing capable devices, which consists in a small circuit board containing various sensors and a software library, built on top of the Arduino platform.
Abstract: Orientation and Motion Sensing are widely implemented on various consumer products, such as mobile phones, tablets and cameras as they enable immediate interaction with virtual information. The prototyping phase of any orientation and motion sensing capable device is however a quite difficult process as it may involve complex hardware designing, math algorithms and programming.
In this paper, we present FreeIMU, an Open Hardware Framework for prototyping orientation and motion sensing capable devices. The framework consists in a small circuit board containing various sensors and a software library, built on top of the Arduino platform. Both the hardware and library are released under open licences and supported by an active community allowing to be implemented into research and commercial projects.
13 citations
"Design and development of a humanoi..." refers background in this paper
...A Razor IMU [21] is placed at the center of the pelvic link, which transmits the data related to yaw, pitch and roll angles of the pelvic link of the robot....
[...]
...The inertial motion sensing unit (IMU) is placed at the bottom pelvic joint location and gives filtered yaw pitch roll data at 50 Hz frequency....
[...]
...A Razor IMU [21] is placed at the center of the pelvic link, which transmits the data related to yaw, pitch and roll angles of the pelvic link of the robot....
[...]
...There are multiple future directions which can be explored using ZMP and IMU feedback, which includes walking on uneven terrain and lifting of heavy objects while maintaining balance....
[...]
...Hence, the IMU data plays a crucial role in maintaining stability of the robot....
[...]
20 Jul 2011
TL;DR: In this article, the authors present the humanoid robot Acroban, which combines mechatronic compliance with structural compliance due to the use of flexible materials, and explore how these capabilities allow to enforce morphological computation in the design of robust dynamic locomotion.
Abstract: This paper presents the humanoid robot Acroban. We study two main issues: 1) Compliance and semi-passive dynamics for locomotion of humanoid robots regarding robustness against unknown external perturbations; 2) The advantages of a bio-inspired multi-articulated vertebral column. We combine mechatronic compliance with structural compliance due to the use of flexible materials. And we explore how these capabilities allow to enforce morphological computation in the design of robust dynamic locomotion. We also investigate the use of compliance to design semi-passive motor primitives using the torso and the arms as a system of accumulation/release of potential/kinetic energy.
6 citations
"Design and development of a humanoi..." refers background in this paper
...As a step towards this, the most desirable feature in a humanoid is a flexible vertebral column [16]....
[...]
01 Sep 2014
TL;DR: In this article, the possibilities of movement control of a five-joint robot manipulator, which is composed of Dynamixel actuators, are discussed, and a description of sending user-defined data, which are stored in individual addresses of the actuators' control unit is given.
Abstract: The article deals with the possibilities of movement control of a five-joint robot manipulator, which is composed of Dynamixel actuators. It contains a description of sending user-defined data, which are stored in individual addresses of the actuators’ control unit. According to these data, the actuator is able to change the parameters of movement, such as velocity, dynamics of acceleration and deceleration, accuracy of reaching a specific position, etc. The article also compares the settings of individual parameters.
1 citations
"Design and development of a humanoi..." refers background in this paper
...Therefore, compliance of the motor joints can be simulated by changing the PID values [17]....
[...]