Humanoid robot HRP-3
14 Oct 2008-pp 2471-2478
TL;DR: The appearance design, the mechanisms, the electrical systems, specifications, and features upgraded from its prototype are introduced and HRP-2 is a humanoid robotics platform developed in phase two of HRP.
Abstract: In this paper, the development of humanoid robot HRP-3 is presented. HRP-3, which stands for Humanoid Robotics Platform-3, is a human-size humanoid robot developed as the succeeding model of HRP-2. One of features of HRP-3 is that its main mechanical and structural components are designed to prevent the penetration of dust or spray. Another is that its wrist and hand are newly designed to improve manipulation. Software for a humanoid robot in a real environment is also improved. We also include information on mechanical features of HRP-3 and together with the newly developed hand. Also included are the technologies implemented in HRP-3 prototype. Electrical features and some experimental results using HRP-3 are also presented.
Citations
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27 Sep 2004
TL;DR: The development of humanoid robot HRP-3 is presented and it is shown that its main mechanical and structural components are designed to prevent the penetration of dust or spray and its wrist and hand are newly designed to improve manipulation.
Abstract: A development of humanoid robot HRP-2 is presented in this paper. HRP-2 is a humanoid robotics platform, which we developed in phase two of HRP. HRP was a humanoid robotics project, which had run by the Ministry of Economy, Trade and Industry (METI) of Japan from 1998FY to 2002FY for five years. The ability of the biped locomotion of HRP-2 is improved so that HRP-2 can cope with uneven surface, can walk at two third level of human speed, and can walk on a narrow path. The ability of whole body motion of HRP-2 is also improved so that HRP-2 can get up by a humanoid robot's own self if HRP-2 tips over safely. In this paper, the appearance design, the mechanisms, the electrical systems, specifications, and features upgraded from its prototype are also introduced.
897 citations
Cites background or methods from "Humanoid robot HRP-3"
...In the HRP project, we developed HRP-2 [8]....
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...Since HRP-2 is 1539 [mm] high and weighs 58 [kg] including batteries [8], HRP-3 has grown a little larger than HRP-2....
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...Since the second prototype HONDA humanoid robot: P2, was revealed in 1996, many biped humanoid robots have been developed [5-9]....
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...5 [km/h] walk was successfully achieved by HRP-2 with using waist motion [8, 9]....
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01 Jan 2010
TL;DR: A new voting-based object pose extraction algorithm that does not rely on 2D/3D feature correspondences and thus reduces the early-commitment problem plaguing the generality of traditional vision-based pose extraction algorithms is shown.
Abstract: Society is becoming more automated with robots beginning to perform most tasks in factories and starting to help out in home and office environments. One of the most important functions of robots is the ability to manipulate objects in their environment. Because the space of possible robot designs, sensor modalities, and target tasks is huge, researchers end up having to manually create many models, databases, and programs for their specific task, an effort that is repeated whenever the task changes. Given a specification for a robot and a task, the presented framework automatically constructs the necessary databases and programs required for the robot to reliably execute manipulation tasks. It includes contributions in three major components that are critical for manipulation tasks.
The first is a geometric-based planning system that analyzes all necessary modalities of manipulation planning and offers efficient algorithms to formulate and solve them. This allows identification of the necessary information needed from the task and robot specifications. Using this set of analyses, we build a planning knowledge-base that allows informative geometric reasoning about the structure of the scene and the robot's goals. We show how to efficiently generate and query the information for planners.
The second is a set of efficient algorithms considering the visibility of objects in cameras when choosing manipulation goals. We show results with several robot platforms using grippers cameras to boost accuracy of the detected objects and to reliably complete the tasks. Furthermore, we use the presented planning and visibility infrastructure to develop a completely automated extrinsic camera calibration method and a method for detecting insufficient calibration data.
The third is a vision-centric database that can analyze a rigid object's surface for stable and discriminable features to be used in pose extraction programs. Furthermore, we show work towards a new voting-based object pose extraction algorithm that does not rely on 2D/3D feature correspondences and thus reduces the early-commitment problem plaguing the generality of traditional vision-based pose extraction algorithms.
In order to reinforce our theoric contributions with a solid implementation basis, we discuss the open-source planning environment OpenRAVE, which began and evolved as a result of the work done in this thesis. We present an analysis of its architecture and provide insight for successful robotics software environments.
540 citations
TL;DR: A myoelectric-driven, finite state controller for a powered ankle-foot prosthesis that modulates both impedance and power output during stance is developed and evaluated, finding that the amputee can robustly transition between the finite state controllers through direct muscle activation, allowing rapid transitioning from level-ground to stair walking patterns.
508 citations
TL;DR: The main purpose of this paper is to review the state-of-the-art on intermediate human–robot interfaces (bi-directional), robot control modalities, system stability, benchmarking and relevant use cases, and to extend views on the required future developments in the realm of human-robot collaboration.
Abstract: Recent technological advances in hardware design of the robotic platforms enabled the implementation of various control modalities for improved interactions with humans and unstructured environments. An important application area for the integration of robots with such advanced interaction capabilities is human---robot collaboration. This aspect represents high socio-economic impacts and maintains the sense of purpose of the involved people, as the robots do not completely replace the humans from the work process. The research community's recent surge of interest in this area has been devoted to the implementation of various methodologies to achieve intuitive and seamless human---robot-environment interactions by incorporating the collaborative partners' superior capabilities, e.g. human's cognitive and robot's physical power generation capacity. In fact, the main purpose of this paper is to review the state-of-the-art on intermediate human---robot interfaces (bi-directional), robot control modalities, system stability, benchmarking and relevant use cases, and to extend views on the required future developments in the realm of human---robot collaboration.
452 citations
Cites background from "Humanoid robot HRP-3"
...Such systems that range from robotic manipulators [Albu-Schäffer et al., 2007] to full humanoids [Tsagarakis et al., 2016, Ott et al., 2006, Kaneko et al., 2008, Radford et al., 2015] are expected to help the human user in various tasks, some of which require collaborative effort for a safe1,…...
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TL;DR: This paper applies inverse optimal control to establish a model of human overall locomotion path generation to given target positions and orientations, based on newly collected motion capture data, to establish optimal control models that can be used to control robot motion.
Abstract: The purpose of this paper is to present inverse optimal control as a promising approach to transfer biological motions to robots. Inverse optimal control helps (a) to understand and identify the underlying optimality criteria of biological motions based on measurements, and (b) to establish optimal control models that can be used to control robot motion. The aim of inverse optimal control problems is to determine--for a given dynamic process and an observed solution--the optimization criterion that has produced the solution. Inverse optimal control problems are difficult from a mathematical point of view, since they require to solve a parameter identification problem inside an optimal control problem. We propose a pragmatic new bilevel approach to solve inverse optimal control problems which rests on two pillars: an efficient direct multiple shooting technique to handle optimal control problems, and a state-of-the art derivative free trust region optimization technique to guarantee a match between optimal control problem solution and measurements. In this paper, we apply inverse optimal control to establish a model of human overall locomotion path generation to given target positions and orientations, based on newly collected motion capture data. It is shown how the optimal control model can be implemented on the humanoid robot HRP-2 and thus enable it to autonomously generate natural locomotion paths.
432 citations
References
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16 May 1998
TL;DR: Due to its unique posture stability control, the Honda humanoid robot is able to maintain its balance despite unexpected complications such as uneven ground surfaces and to perform simple operations via wireless teleoperation.
Abstract: In this paper, we present the mechanism, system configuration, basic control algorithm and integrated functions of the Honda humanoid robot. Like its human counterpart, this robot has the ability to move forward and backward, sideways to the right or the left, as well as diagonally. In addition, the robot can turn in any direction, walk up and down stairs continuously. Furthermore, due to its unique posture stability control, the robot is able to maintain its balance despite unexpected complications such as uneven ground surfaces. As a part of its integrated functions, this robot is able to move on a planned path autonomously and to perform simple operations via wireless teleoperation.
2,050 citations
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27 Sep 2004
TL;DR: The development of humanoid robot HRP-3 is presented and it is shown that its main mechanical and structural components are designed to prevent the penetration of dust or spray and its wrist and hand are newly designed to improve manipulation.
Abstract: A development of humanoid robot HRP-2 is presented in this paper. HRP-2 is a humanoid robotics platform, which we developed in phase two of HRP. HRP was a humanoid robotics project, which had run by the Ministry of Economy, Trade and Industry (METI) of Japan from 1998FY to 2002FY for five years. The ability of the biped locomotion of HRP-2 is improved so that HRP-2 can cope with uneven surface, can walk at two third level of human speed, and can walk on a narrow path. The ability of whole body motion of HRP-2 is also improved so that HRP-2 can get up by a humanoid robot's own self if HRP-2 tips over safely. In this paper, the appearance design, the mechanisms, the electrical systems, specifications, and features upgraded from its prototype are also introduced.
897 citations
21 May 2001
TL;DR: This paper outlines the 2nd generation of multisensory hand design at DLR, based on the results of the DLR Hand I, with the newly designed sensors as the 6-DOF fingertip force torque sensor, the integrated electronics and the new communication architecture with a reduction of cabling to the hand to only 12 lines.
Abstract: This paper outlines the 2nd generation of multisensory hand design at DLR, based on the results of the DLR Hand I we analysed. An open skeleton structure for better maintenance with semi-shell housing and the new automatically reconfigurable palm have been equipped with more powerful actuators to reach 30 N on the fingertip. The newly designed sensors as the 6-DOF fingertip force torque sensor, the integrated electronics and the new communication architecture with a reduction of cabling to the hand to only 12 lines, are outlined. The Cartesian impedance control of all the fingers completes the new 13-DOF hand.
825 citations
"Humanoid robot HRP-3" refers background in this paper
...Ultimately a multi-fingered hand is required to perform human tasks as well as a human [13-15]....
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05 Dec 2005
TL;DR: KHR-3 as discussed by the authors is based on KHR-2 and has 41 degree of freedom (DOF), 125 cm height, and 55 kg weight, which has more human-like features, movements and human-friendly character.
Abstract: KHR-I has been developed on the purpose of research about biped walking It has 21 DOF without hands and head, which has 12 DOF in legs, 1 DOF in torso, and 8 DOF in arms The objective of KHR-2 (41 DOF) was to develop the humanoid which can walk on the living-floor with human-like appearance and movement KHR-3 has the purpose that it has more human-like features, movements and human-friendly character Mechanical design of KHR-3 is presented on this paper The design concept, lower body design, upper body design and actuator selection of joints are included in this paper We have developed and published KHR-I and 2 in last three years KHR3 platform is based on KHR-2 It has 41 degree of freedom (DOF), 125 cm height, and 55 kg weight The differences from KHR-2 are mechanical stiffness and detailed design of the frame in the mechanical point of view Stiffness of the frame is increased and detailed design about joints and link frame has been modified or redesigned We introduced exterior art design concept on KHR-2 in beginning, and the concept has been implemented on KHR-3 in mechanical design stage
276 citations
"Humanoid robot HRP-3" refers background in this paper
...Since the second prototype HONDA humanoid robot: P2, was revealed in 1996, many biped humanoid robots have been developed [ 5-9 ]....
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...The height of HUBO is 1250 [mm] and weight is 55 [kg] including batteries [ 6 ]....
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