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

Session WedAT2 Fenix 2 Wednesday, October 10, 2012, 08:30–09:30
Physical Human-Robot Interaction I
Chair Yasuhisa Hirata, Tohoku Univ.
Co-Chair Dongheui Lee, Tech. Univ. of Munich
08:30–08:45 WedAT2.1
Wire-type Human Support System
Controlled by Servo Brakes
Yasuhisa Hirata, Yuki Tozaki and Kazuhiro Kosuge
Department of Bioengineering and Robotics, Tohoku University, Japan
• This paper presents a wire-type motion
support system controlled by servo
brakes.
• This paper focuses on the feasible braking
force region of the system.
• We proposes the conditions for realizing
the system with a large feasible braking
force region, even if we do not use a large
number of brake units.
• We conduct path-following experiments
considering table tennis as an example of
sports training.
Sport Training by using Wire-type
Motion Support System
09:00–09:15 WedAT2.3
Elastic Strips
Implementation on a Physical Humanoid Robot
Jinsung Kwon and Oussama Khatib
Stanford University, USA
Taizo Yoshikawa
Honda Research Institute USA, inc., USA
• The Elastic Strip framework is a reactive motion modification
approach for high d.o.f. robot tasks under real-time conditions.
• The approach is implemented and tested on a humanoid
robot.
• The humanoid robot is able to reach a goal position by
following the elastic strip path which is updated in real-time.
08:45–09:00 WedAT2.2
Real-time Estimate of Period Derivatives using Adaptive
Oscillators: Application to Impedance-Based Walking Assistance
R. Ronsse 1 , S.M.M. De Rossi 2 , N. Vitiello 2 , T. Lenzi 2 , B. Koopman 3 ,
H. van der Kooij 3 , M.C. Carrozza 2 , and A.J. Ijspeert 4
1 Institute of Mechanics, Materials and Civil Engineering,
Université catholique de Louvain, Belgium
2 BioRobotics Institute, Scuola Superiore Sant’Anna, Italy
3 Biomechanical Engineering Laboratory, University of Twente, The
Netherlands
4 Biorobotics Laboratory, EPFL, Switzerland
• New approach to infer velocity and
acceleration from a noisy quasi-periodic
position signal.
• Using adaptive oscillators.
• Measurement noise is filtered out AND
estimates are delay-free with respect to
the actual derivatives.
• Validation with an impedance-based
strategy for assisting human walking in the
LOPES device.
• Intrinsically stable method.
Knee velocity and acceleration during
walking. Black: actual kinematics; blue:
Kalman filter; red: new approach.
09:15–09:30 WedAT2.4
6D Workspace Constraints
for Physical Human-Robot Interaction using
Invariance Control with Chattering Reduction
Melanie Kimmel Martin Lawitzky Sandra Hirche
Institute of Automatic Control Engineering
Technische Universität München, Germany
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
–120–