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

Session WedAT4 Fenix 3 Wednesday, October 10, 2012, 08:30–09:30
Humanoid Robots II
Chair Paul Y. Oh, Drexel Univ.
Co-Chair
08:30–08:45 WedAT4.1
p ref i
Online Walking Pattern Generation for Push
Recovery and Minimum Delay to Commanded
Change of Direction and Speed
Junichi Urata 1 , Koichi Nshiwaki 2 , Yuto Nakanishi 1 ,
Kei Okada 1 , Satoshi Kagami 2 and Masayuki Inaba 1
1 Department of Mechano-Informatics, The University of Tokyo, Japan
2 National Institute of Advanced Industrial Science and Technology (AIST)
• New online walking pattern generation method
• Direction and speed change with minimum delay
• Push recovery while walking
x,x’
Original P ref
p ref
Modification
(p i ,x i )
LIPM
State Error without
Offset
x
ZMP-CoM Loop
M
CoM
Generation
HPF
t
Delay
y
Full Body
Dynamics
Compensation
Error
t
+ -
Real World
Model
Error
K
External Force
Stabilizer
09:00–09:15 WedAT4.3
Applying Human Motion Capture to Design Energyefficient
Trajectories for Miniature Humanoids
Kiwon Sohn and Paul Oh
Mechanical Engineering and Mechanics, Drexel University, USA
• Reinforcement Learning based Approach
to Optimize Motions for Humanoids
• Optimize the Trajectories with respect to
Energy Consumption and Similarity to a
Human’s Natural Motion
• Energy Cost is Estimated by a Dynamic
Model(Propac), and Validated using
System Identification(SID)
• With a Mocap, Human Motions were
Collected and Produced Another Cost for
Optimization
08:45–09:00 WedAT4.2
Humanoid Full-body Controller
Adapting Constraints in Structured Objects
through Updating Task-level Reference Force
Shunichi Nozawa, Iori Kumagai, Yohei Kakiuchi,
Kei Okada and Masayuki Inaba
Department of Mechano-Infomatics, The University of Tokyo, Japan
• Force-control-based Humanoid
Manipulation of Structured Objects
• Update of Hand’s Reference Forces based
on Movable Direction to Adapt to
Operational Force Change
• Experiments for Five Different Structured
Objects
Opening a Door and Going through It
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
–122–
Object Velocity Command
Reference Force
Update
Reference Force
Force-based
Humanoid Controller
Joint Angles
Real Robot
Structured Object
Humanoid’s Controller
based on Update of
Reference Force
-
+
Reaction Force
09:15–09:30 WedAT4.4
Trajectory Design and Control of
Edge-landing Walking of a Humanoid for
Higher Adaptability to Rough Terrain
Koichi Nishiwaki and Satoshi Kagami
Digital Human Research Center, AIST, Japan
JST, CREST, Japan
• Online decision of stepping position,
landing edge, and step timing for the
balance maintenance of walking is
presented.
• Unknown roughness along forward
direction is explicitly considered.
• Inclined sole landing is used for estimating
the decrease of the support region.
• The effect of multi-body dynamics is also
considered when deciding the stepping
position.