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

Session WedDT4 Fenix 3 Wednesday, October 10, 2012, 14:00–15:00
Humanoid Robots V
Chair
Co-Chair
14:00–14:15 WedDT4.1
Humanoid Push Recovery
with Robust Convex Synthesis
Jiuguang Wang
Robotics Institute, Carnegie Mellon University
robot@cmu.edu
• Humanoid full-body push recovery
• Robust control design – model bounded
external disturbances
• Simultaneously search for a controller and
the associated domain of attraction using
convex optimization
• The controller guarantees stabilization
under bounded disturbances as well as
physical constraints on the robot
14:30–14:45 WedDT4.3
Lower Thigh Design of
Detailed Musculoskeletal Humanoid “Kenshiro”
Yuki Asano*, Hironori Mizoguchi**, Toyotaka Kozuki**,
Yotaro Motegi**, Masahiko Osada**, Junichi Urata**,
Yuto Nakanishi**, Kei Okada** and Masayuki Inaba**
*Graduate School of Interdisciplinary Information Studies, Univ.of Tokyo, Japan
**Dept. of Mechano-Informatics, Univ.of Tokyo, Japan
• Design concept of Detailed
Musculoskeletal Humanoid “Kenshiro”
• Body Configuration
• Joint Structure
• Muscle Arrangement
• Biomimetic Design of the Knee Joint
• Kneecap
• Cruciate Ligament
• Screw-Home Mechanism
• Detailed Muscle Arrangement Imitating
Human
• Experiment of Knee Rotation on the
Ground
Detailed musculoskeletal humanoid
“Kenshiro”. Knee rotation experiment
and muscle arrangemant of leg
14:15–14:30 WedDT4.2
Appearance-Based Traversability
Classification in Monocular Images Using
Iterative Ground Plane Estimation
Daniel Maier and Maren Bennewitz
Department of Computer Science, University of Freiburg, Germany
• Traversability estimation from monocular
camera images for robot navigation
• Learning appearance-based classifiers for
fast and dense classification of images
• Classifiers are updated online in a selfsupervised
fashion
• Iterative detection and matching of sparse
features on the ground plane under the
homography constraint
• Classified images are integrated into an
occupancy grid map
• Experiments with a real humanoid robot
show high classification rates and robust
obstacle detection
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
–154–
Top: Sparse Floor Features
Bottom: Dense Classification
14:45–15:00 WedDT4.4
Optimization-based generation and experimental
validation of walking trajectories for biped robots
Alexander Werner, Roberto Lampariello and Christian Ott
Institute of Robotics and Mechatronics, Deutsches Zentrum für Luft- und
Raumfahrt (DLR), Germany
• Generation of energy-optimal step
trajectories through non-linear
programming with full rigid-body robot
model
• Stability(ZMP), collisions and joint limits
are respected
• Efficient fixed-based calculation of the
constraints and the cost function
• Analysis and avoidance of global minima
• Experimental testing and evaluation of the
trajectories
• Significant gain (55%) in the cost function
with respect to capture-point based
controller
Optimal Walking Trajectories