Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm

Session WedBT4 Fenix 3 Wednesday, October 10, 2012, 09:30–10:30
Humanoid Robots III
Chair Paul Y. Oh, Drexel Univ.
Co-Chair
09:30–09:45 WedBT4.1
Design Methodology for the Thorax and Shoulder of
Human Mimetic Musculoskeletal Humanoid Kenshiro
-A Thorax structure with Rib like Surface -
Toyotaka Kozuki,Hironori Mizoguchi,Yuki Asano,Masahiko Osada,
Takuma Shirai,Urata Junichi,Yuto Nakanishi,Kei Okada,Masayuki Inaba
Univ.of Tokyo, Japan
• Design concept of Detailed
Musculoskeletal Humanoid
Kenshiro’s Upper limb
• Joint Structure
• Muscle Arrangement
• Range of Motion
• Mechanical Key Points
of the Upper Limb
• Rib like Thorax
• Planar muscle
• Muscle Cushion
• Open Sphere Joint
Prototype of Human Mimetic
Musculoskeletal Humanoid
“Kenshiro” Upper Limbs
10:00–10:15 WedBT4.3
Dynamic motion imitation of two articulated systems
using nonlinear time scaling of joint trajectories
Karthick Munirathinam, Sophie Sakka, Christine Chevallereau
IRCCyN, Robotics Team, Ecole centrale de nantes,
Nantes, France
• An approach for motion imitation of
articulated systems with balance and
physical constraints using optimization.
• We modify the temporal evolution of joint
motion rather than the traditional way of
formulating on geometric evolution of joint
motion of the imitating system.
• Time scaling based imitation has an
immanent advantage of tracking the joint
trajectory of the reference system by
compromising on joint velocity and
acceleration.
• Simulations are carried out to validate our
proposed method.
Model: Foot connected to n-serial
links(n=4)
09:45–10:00 WedBT4.2
State Estimation of a Walking
Humanoid Robot
Xinjilefu and Christopher G. Atkeson
Robotics Institute, Carnegie Mellon University, USA
• We compare two approaches to designing
Kalman filters for walking systems.
• One design uses LIPM dynamics, the
other uses more complete Planar
dynamics.
• LIPM design is more robust to modeling
error
• Planar design estimates COM height and
joint velocities, and tracks horizontal COM
translation more accurately.
• We also investigate different ways of
handling contact states and force sensing
in state estimation.
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
–132–
The Sarcos Humanoid Robot
10:15–10:30 WedBT4.4
The Anatomy of a Fall: Automated Real-time
Analysis of Raw Force Sensor Data from
Bipedal Walking Robots and Humans
Petar Kormushev, Luca Colasanto,
Nikolaos G. Tsagarakis, and Darwin G. Caldwell
Advanced Robotics, Istituto Italiano di Tecnologia, Italy
Barkan Ugurlu
Control Systems, Toyota Technological Institute, Japan
• Algorithms for automated analysis
of ground reaction force data
• Automatically detect single, double
support, and swing phases, heel
strikes, phase transitions, etc.
• Detect early indications of
instability that could lead to a fall.
• Approach: generic, model-free,
parameter-free, robust, efficient
• Three experiments on: compliant
humanoid robot COMAN, stiff robot
HOAP-2, and a human subject