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

Session WedCT4 Fenix 3 Wednesday, October 10, 2012, 11:00–12:30
Humanoid Robots IV
Chair Kyungshik Roh, Samsung Electronics Co., Ltd
Co-Chair Christian Ott, German Aerospace Center (DLR)
11:00–11:15 WedCT4.1
Development of the Lower Limbs
for a Humanoid Robot
Joohyung Kim, Younbaek Lee, Sunggu Kwon, Keehong Seo,
Hoseong Kwak, Heekuk Lee, and Kyungshik Roh
Samsung Advanced Institute of Technology, South Korea
• We Present an overview of developing a
novel biped walking machine for a
humanoid robot Roboray.
• Torque sensors are integrated at each
joint of 6-DOF legs.
• A new tendon type joint module is used
in a pitch joint drive module, which is
highly back-drivable.
• Control system is decentralized using
small controller boards named Smart
Driver.
Roboray and its lower limbs
without cover.
11:30–11:45 WedCT4.3
Optimal Gait Primitives for Dynamic
Bipedal Locomotion
Bokman Lim, Jusuk Lee, Joohyung Kim, Minhyung Lee,
Hoseong Kwak, Sunggu Kwon, Heekuk Lee,
Woong Kwon, and Kyungshik Roh
Samsung Advanced Institute of Technology, Korea
• A movement generation framework for
dynamic bipedal locomotion is proposed.
• A set of parametric gait primitives is first
constructed using the dynamics-based
movement optimization algorithm.
• Dynamic walking to follow the arbitrary
path is then generated online via
sequentially composing primitive motions.
• Proposed method is applied to a torque
controlled robot platform, Roboray.
• Results show that dynamic gaits are
humanlike and efficient compared to the
conventional knee bent walkers.
Roboray
12:00–12:15 WedCT4.5
Robust Descriptors for 3D Point Clouds using
Geometric and Photometric Local Feature
Hyoseok Hwang, Seungyong Hyung, Sukjune Yoon and
Kyungshik Roh
Samsung Advanced Institute of Technology
Samsung Electronics
Republic of Korea
• We propose robust descriptors called
GPLF(Geometric and Photometric Local
Feature) for object recognition and pose
estimation
• The proposed descriptors simultaneously
use geometric and photometric features of
point clouds from RGB-D camera
• GPLF has robust discriminative ability
regardless of characteristics such as
shapes or appearances of objects.
• The experimental results show the
recognition accuracy of the proposed
descriptors is higher than other
approaches which use a single feature
The proposed descriptors of
3D point clouds
11:15–11:30 WedCT4.2
On-board Odometry Estimation
for 3D Vision-based SLAM of Humanoid Robot
SungHwan Ahn, Sukjune Yoon, Seungyong Hyung,
Nosan Kwak and Kyung Shik Roh
Samsung Advanced Institute of Technology (SAIT),
Samsung Electronics, Korea
• Vision-based 3D motion estimation
method for dynamic walking robots
accompanying large swaying motion and
uncertainty in camera movement.
• On-board odometry filter fuses kinematic
odometry, visual odometry, and raw IMU
data.
• Vision-based SLAM utilizes the fused
odometry, and it improves the SLAM
estimates by compensating motion errors.
• Experiments verifies the method with the
biped humanoid robot, Roboray, designed
by Samsung.
11:45–12:00 WedCT4.4
Towards Natural Bipedal Walking: Virtual Gravity
Compensation and Capture Point Control
Keehong Seo, Joohyung Kim, Kyungshik Roh
Samsung Advanced Institute of Technology, South Korea
• A pose controller is proposed that
compensates Cartesian pose errors for a
bipedal robot.
• Virtual gravity compensation (VGC) is
developed to convert 6-dof Cartesian force
to joint torques in the legs.
• A walking algorithm using VGC and
capture point control produces natural
and robust walking gait.
• Tested with Roboray, humanoid from
Samsung Electronics, to balance on
slopes, to walk over bumps, and to
recover from pushes while walking.
• Resulting gait shows clear heel-landing
and toe-off motions as humans do.
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
–142–
Figure caption is optional,
use Arial Narrow 20pt
12:15–12:30 WedCT4.6
Active Stabilization of a Humanoid Robot for
Impact Motions with Unknown Reaction Forces
Seung-Joon Yi and Daniel D. lee
GRASP Lab, University of Pennsylvania, USA
Byoung-Tak Zhang
BI Lab, Seoul National University, Korea
Dennis Hong
RoMeLa Lab, Virginia Tech, USA
• Humans utilize whole body impact
motions to generate large forces
• Uncertainty in the ensuing reaction
forces can lead robot to instability
• A hierarchical push recovery
controller is used along with
simple robot model to reactively
stabilize the robot against
unknown reaction force
• Implemented and tested on the
DARwIn-OP small humanoid robot