Autonomous wall cutting with an Atlas humanoid robot

Chong, Zheng-Hao; Hung, R.T.W.; Lee, Kit-Hang; Wang, Weijia; Ng, Tony W.L.; Newman, Wyatt S.

doi:10.1109/tepra.2015.7219673

Cited by 8 publications

(2 citation statements)

References 15 publications

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“…For example, researchers in the 2015 DARPA robotics challenge found supervisory control to be essential for manipulation tasks. For known manipulation tasks, such as turning a valve ( Newman et al, 2014 ) and cutting through a wall ( Chong et al, 2015 ), it is more reliable and faster for an operator to initiate predefined skills rather than direct fine motor movements.…”

Section: Introductionmentioning

confidence: 99%

Compliant robotic behaviors for satellite servicing

Cressman,

Pokharna,

Newman

2023

Front. Robot. AI

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The demands of traditional industrial robotics differ significantly from those of space robotics. While industry requires robots that can perform repetitive tasks with precision and speed, the space environment needs robots to cope with uncertainties, dynamics, and communication delays or interruptions, similar to human astronauts. These demands make a well-suited application for compliant robotics and behavior-based programming. Pose Target Wrench Limiting (PTWL) is a compliant behavior paradigm developed specifically to meet these demands. PTWL controls a robot by moving a virtual attractor to a target pose. The attractor applies virtual forces, based on stiffness and damping presets, to an underlying admittance controller. Guided by virtual forces, the robot will follow the attractor until safety conditions are violated or success criteria are met. We tested PTWL on a variety of quasi-static tasks that may be useful for future space operations. Our results demonstrate that PTWL is an extremely powerful tool. It makes teleoperation easy and safe for a wide range of quasi-static tasks. It also facilitates the creation of semi-autonomous state machines that can reliably complete complex tasks with minimal human intervention.

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Section: Introductionmentioning

confidence: 99%

Compliant robotic behaviors for satellite servicing

Cressman,

Pokharna,

Newman

2023

Front. Robot. AI

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“…Consequently, realizing human-like walking on biped robots has been an attractive research field for decades. Up to now, various advanced biped robots have been developed, from childlike robots NAO [1,2] and iCub [3,4] to human-sized robots Asimo [5,6], HRP [7][8][9], and Atlas [10,11]. For these biped robots, the most popular control approach is based on the Zero Moment Point (ZMP) theory, i.e.…”

Section: Introductionmentioning

confidence: 99%

Human-Like Walking with Heel Off and Toe Support for Biped Robot

et al. 2017

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Abstract:The under-actuated foot rotation that the heel of the stance leg lifts off the ground and the body rotates around the stance toe is an important feature in human walking. However, it is absent in the realized walking gait for the majority of biped robots because of the difficulty and complexity in the control it brings about. In this paper, a hybrid control approach aiming to integrate the main characteristics of human walking into a simulated seven-link biped robot is presented and then verified with simulations. The bipedal robotic gait includes a fully actuated single support phase with the stance heel supporting the body, an under-actuated single support phase, with the stance toe supporting the body, and an instantaneous double support phase when the two legs exchange their roles. The walking controller combines virtual force control and foot placement control, which are applied to the stance leg and the swing leg, respectively. The virtual force control assumes that there is a virtual force which can generate the desired torso motion on the center of mass of the torso link, and then the virtual force is applied through the real torques on each actuated joint of the stance leg to create the same effect that the virtual force would have created. The foot placement control uses a path tracking controller to follow the predefined trajectory of the swing foot when walking forward. The trajectories of the torso and the swing foot are generated based on the cart-cable model. Co-simulations in Adams and MATLAB show that the desired gait is achieved with a biped robot under the action of the proposed method.

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