COMpliant huMANoid COMAN: Optimal joint stiffness tuning for modal frequency control

Tsagarakis, Nikos G.; Morfey, Stephen; Cerda, Gustavo Medrano; Li, Zhibin; Caldwell, Darwin G.

doi:10.1109/icra.2013.6630645

Cited by 199 publications

(104 citation statements)

References 19 publications

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“…The compliance values are fixed at this stage, using the initial values for COMAN [5]. The tasks trajectories are first specified in Cartesian space, converted to joint space using inverse kinematics and then the full body dynamics is simulated using a Runge-Kutta solver.…”

Section: Task Descriptionsmentioning

confidence: 99%

“…However, for a multi degree of freedom humanoid like COMAN, these processes demand a tedious work and is undesirable. Therefore, [5] suggests an multi-body optimization method that maximizes the stored energy in joint springs and places an inequality constraint on natural frequencies of the system and stiffnesses range. The cost function of the optimization is:…”

Section: Compliance Selectionmentioning

confidence: 99%

“…The starting point for the design of this robot is based on the existing humanoid robot COMAN [5] developed at the department of advanced robotics in Istituto Italiano di Tecnologia (IIT). The main goal of the design is to build a compliant humanoid robot with high capability and robustness to assist in a real disaster situation.…”

Section: Introductionmentioning

confidence: 99%

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Designing a High Performance Humanoid Robot Based on Dynamic Simulation

Dallali

Mosadeghzad

Medrano-Cerda

et al. 2013

2013 European Modelling Symposium

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Abstract-In this paper, we present a study on dynamic simulation to assist designing a high performance compliant humanoid robot. An open source dynamic simulator is introduced which includes the rigid body and actuator dynamics of the full humanoid robot. A set of representative tasks for humanoid robot in rescue operations are chosen and simulated. The data from these tasks are used in sizing the motor and transmission gear for each joint of the robot. It is shown that in the representative tasks, the most critical joint of the robot (in terms of power consumption) is the knee joint. Furthermore, a recently proposed optimization method is used to obtain the value of passive compliance for each joint. The data obtained from simulation studies are used for designing the new humanoid robot.

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Section: Task Descriptionsmentioning

confidence: 99%

Section: Compliance Selectionmentioning

confidence: 99%

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Designing a High Performance Humanoid Robot Based on Dynamic Simulation

Dallali

Mosadeghzad

Medrano-Cerda

et al. 2013

2013 European Modelling Symposium

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show abstract

“…The experiments were performed with the LWR-III and a standard industrial EPSON PS3L robot, see Figs. 7,8. In the experiments, three end-effectors (plane, line (radius 3 mm), and point (radius 2 mm)) were used, see Fig. 9.…”

Section: Setup Pmla/human Volunteer Impact Experimentsmentioning

confidence: 99%

“…5,6 Further examples of this novel class of robots are Barrett's WAM Arm, 2 Rethink Robotics Baxter, 3 or also more recently the class of variable stiffness/impedance robots. 7,8 Of course, the target domains envisaged for such novel solutions raise the key question of how to ensure human safety during pHRI. 9 As the physical contact between human and robot is the primary potential cause of injury in pHRI, its fundamentals have to be well understood and according countermeasures for its prevention are to be found.…”

Section: Introduction and Contributionmentioning

confidence: 99%

A tool for the evaluation of human lower arm injury: approach, experimental validation and application to safe robotics

Povse¹,

Haddadin

Belder

et al. 2015

Robotica

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SUMMARYThis paper treats the systematic injury analysis of lower arm robot-human impacts. For this purpose, a passive mechanical lower arm (PMLA) was developed that mimics the human impact response and is suitable for systematic impact testing and prediction of mild contusions and lacerations. A mathematical model of the passive human lower arm is adopted to the control of the PMLA. Its biofidelity is verified by a number of comparative impact experiments with the PMLA and a human volunteer. The respective dynamic impact responses show very good consistency and support the fact that the developed device may serve as a human substitute in safety analysis for the described conditions. The collision tests were performed with two different robots: the DLR Lightweight Robot III (LWR-III) and the EPSON PS3L industrial robot. The data acquired in the PMLA impact experiments were used to encapsulate the results in a robot independent safety curve, taking into account robot's reflected inertia, velocity and impact geometry. Safety curves define the velocity boundaries on robot motions based on the instantaneous manipulator dynamics and possible human injury due to unforeseen impacts.

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Team VALOR's ESCHER: A Novel Electromechanical Biped for the DARPA Robotics Challenge

Knabe

Griffin

Burton

et al. 2017

Journal of Field Robotics

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The Electric Series Compliant Humanoid for Emergency Response (ESCHER) platform represents the culmination of four years of development at Virginia Tech to produce a full‐sized force‐controlled humanoid robot capable of operating in unstructured environments. ESCHER's locomotion capability was demonstrated at the DARPA Robotics Challenge (DRC) Finals when it successfully navigated the 61 m loose dirt course. Team VALOR, a Track A team, developed ESCHER leveraging and improving upon bipedal humanoid technologies implemented in previous research efforts, specifically for traversing uneven terrain and sustained untethered operation. This paper presents the hardware platform, software, and control systems developed to field ESCHER at the DRC Finals. ESCHER's unique features include custom linear series elastic actuators in both single and dual actuator configurations and a whole‐body control framework supporting compliant locomotion across variable and shifting terrain. A high‐level software system designed using the robot operating system integrated various open‐source packages and interfaced with the existing whole‐body motion controller. The paper discusses a detailed analysis of challenges encountered during the competition, along with lessons learned that are critical for transitioning research contributions to a fielded robot. Empirical data collected before, during, and after the DRC Finals validate ESCHER's performance in fielded environments.

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COMpliant huMANoid COMAN: Optimal joint stiffness tuning for modal frequency control

Cited by 199 publications

References 19 publications

Designing a High Performance Humanoid Robot Based on Dynamic Simulation

Designing a High Performance Humanoid Robot Based on Dynamic Simulation

A tool for the evaluation of human lower arm injury: approach, experimental validation and application to safe robotics

Team VALOR's ESCHER: A Novel Electromechanical Biped for the DARPA Robotics Challenge

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