Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
- TAGS
- pegaso
- october
- lirmm
- www2.lirmm.fr
You also want an ePaper? Increase the reach of your titles
YUMPU automatically turns print PDFs into web optimized ePapers that Google loves.
<strong>Session</strong> WedAT2 Fenix 2 <strong>Wednesday</strong>, <strong>October</strong> <strong>10</strong>, <strong>2012</strong>, 08:30–09:30<br />
Physical Human-Robot Interaction I<br />
Chair Yasuhisa Hirata, Tohoku Univ.<br />
Co-Chair Dongheui Lee, Tech. Univ. of Munich<br />
08:30–08:45 WedAT2.1<br />
Wire-type Human Support System<br />
Controlled by Servo Brakes<br />
Yasuhisa Hirata, Yuki Tozaki and Kazuhiro Kosuge<br />
Department of Bioengineering and Robotics, Tohoku University, Japan<br />
• This paper presents a wire-type motion<br />
support system controlled by servo<br />
brakes.<br />
• This paper focuses on the feasible braking<br />
force region of the system.<br />
• We proposes the conditions for realizing<br />
the system with a large feasible braking<br />
force region, even if we do not use a large<br />
number of brake units.<br />
• We conduct path-following experiments<br />
considering table tennis as an example of<br />
sports training.<br />
Sport Training by using Wire-type<br />
Motion Support System<br />
09:00–09:15 WedAT2.3<br />
Elastic Strips<br />
Implementation on a Physical Humanoid Robot<br />
Jinsung Kwon and Oussama Khatib<br />
Stanford University, USA<br />
Taizo Yoshikawa<br />
Honda Research Institute USA, inc., USA<br />
• The Elastic Strip framework is a reactive motion modification<br />
approach for high d.o.f. robot tasks under real-time conditions.<br />
• The approach is implemented and tested on a humanoid<br />
robot.<br />
• The humanoid robot is able to reach a goal position by<br />
following the elastic strip path which is updated in real-time.<br />
08:45–09:00 WedAT2.2<br />
Real-time Estimate of Period Derivatives using Adaptive<br />
Oscillators: Application to Impedance-Based Walking Assistance<br />
R. Ronsse 1 , S.M.M. De Rossi 2 , N. Vitiello 2 , T. Lenzi 2 , B. Koopman 3 ,<br />
H. van der Kooij 3 , M.C. Carrozza 2 , and A.J. Ijspeert 4<br />
1 Institute of Mechanics, Materials and Civil Engineering,<br />
Université catholique de Louvain, Belgium<br />
2 BioRobotics Institute, Scuola Superiore Sant’Anna, Italy<br />
3 Biomechanical Engineering Laboratory, University of Twente, The<br />
Netherlands<br />
4 Biorobotics Laboratory, EPFL, Switzerland<br />
• New approach to infer velocity and<br />
acceleration from a noisy quasi-periodic<br />
position signal.<br />
• Using adaptive oscillators.<br />
• Measurement noise is filtered out AND<br />
estimates are delay-free with respect to<br />
the actual derivatives.<br />
• Validation with an impedance-based<br />
strategy for assisting human walking in the<br />
LOPES device.<br />
• Intrinsically stable method.<br />
Knee velocity and acceleration during<br />
walking. Black: actual kinematics; blue:<br />
Kalman filter; red: new approach.<br />
09:15–09:30 WedAT2.4<br />
6D Workspace Constraints<br />
for Physical Human-Robot Interaction using<br />
Invariance Control with Chattering Reduction<br />
Melanie Kimmel Martin Lawitzky Sandra Hirche<br />
Institute of Automatic Control Engineering<br />
Technische Universität München, Germany<br />
<strong>2012</strong> IEEE/RSJ International Conference on Intelligent Robots and Systems<br />
–120–