Fast foot prints re-planning and motion generation during walking in physical human-humanoid interaction

Stasse, Olivier; Evrard, Paul; Perrin, Nicolás; Mansard, Nicolas; Kheddar, Abderrahmane

doi:10.1109/ichr.2009.5379563

Cited by 20 publications

(13 citation statements)

References 15 publications

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“…Physical human-robot interaction with fullbody humanoids has been studied in the context of assisted walking [1], helping a robot to stand up [2], or compliant human-robot interaction with a standing robot [3].…”

Section: Introductionmentioning

confidence: 99%

“…The difficulty with them is that the correspondence problem [8] needs to be addressed. Also, the lack of feedback from the robot during the demonstrations means that the Authors 1,3,4 are with the Advanced Robotics Department, Italian Institute of Technology (IIT), 16163 Genova, Italy (petar.kormushev@iit.it, sylvain.calinon@iit.it, darwin.caldwell@iit.it).…”

Section: Introductionmentioning

confidence: 99%

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Upper-body kinesthetic teaching of a free-standing humanoid robot

Kormushev

Nenchev

Calinon

et al. 2011

2011 IEEE International Conference on Robotics and Automation

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Abstract-We present an integrated approach allowing a free-standing humanoid robot to acquire new motor skills by kinesthetic teaching. The proposed method controls simultaneously the upper and lower body of the robot with different control strategies. Imitation learning is used for training the upper body of the humanoid robot via kinesthetic teaching, while at the same time Reaction Null Space method is used for keeping the balance of the robot. During demonstration, a force/torque sensor is used to record the exerted forces, and during reproduction, we use a hybrid position/force controller to apply the learned trajectories in terms of positions and forces to the end effector. The proposed method is tested on a 25-DOF Fujitsu HOAP-2 humanoid robot with a surface cleaning task.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Upper-body kinesthetic teaching of a free-standing humanoid robot

Kormushev

Nenchev

Calinon

et al. 2011

2011 IEEE International Conference on Robotics and Automation

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“…Reactive stepping based on arm force was reported in [4] where the foot positions were adjusted based on the force sensed at the arms but this method does not appear to use a lean-in strategy, arm force wrench limiting was also not studied and the walking is purely reactive without trying to follow a predetermined path.…”

Section: Related Workmentioning

confidence: 99%

Humanoid robot trajectory generator for safe haptic arm control via arm wrench limitation, trajectory compensation and reactive stepping

Heerden¹,

Kawamura²

2015

Advanced Robotics

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An optimal trajectory planner for humanoid robots with a haptically controlled arm is proposed. This trajectory planner simultaneously plans time-varying arm wrench constraints, foot step positions, and a Center-of-Mass (COM) trajectory. This system has the useful characteristic of ensuring that the robot does not fall when the human operator commands an excessively large arm wrench and in the long term the resultant arm wrench approaches the desired arm wrench via a combination of changes in the foot positions and the COM position. This is accomplished via a Model Predictive Controller with a Quadratic Programming-based trajectory optimizer that calculates a time series of arm wrench constraints, foot positions and, a COM trajectory that optimizes the criteria of minimizing the tracking error of the desired foot positions and the desired arm wrench. A simulation and experiments demonstrate the validity of the proposed algorithm.

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“…An impedance controller for joint object transportation with an HRP-2 robot is presented in [2]. A similar method, extended with an appropriate footstep planner, has been proposed and validated on the same robot in [3], while a strategy based on impedance control and a Finite State Machine was proposed in [4] and experimented on a HRP-2 robot.…”

Section: Introductionmentioning

confidence: 98%

Manual guidance of humanoid robots without force sensors: Preliminary experiments with NAO

Bellaccini

Lanari

Paolillo

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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In this paper we propose a method to perform manual guidance with humanoid robots. Manual guidance is a general model of physical interaction: here we focus on guiding a humanoid by its hands. The proposed technique can be, however, used also for joint object transportation and other tasks implying human-humanoid physical interaction. Using a measure of the Instantaneous Capture Point, we develop an equilibrium-based interaction technique that does not require force/torque or vision sensors. It is, therefore, particularly suitable for low-cost humanoids and toys. The proposed method has been experimentally validated on the small humanoid NAO.

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Fast foot prints re-planning and motion generation during walking in physical human-humanoid interaction

Cited by 20 publications

References 15 publications

Upper-body kinesthetic teaching of a free-standing humanoid robot

Upper-body kinesthetic teaching of a free-standing humanoid robot

Humanoid robot trajectory generator for safe haptic arm control via arm wrench limitation, trajectory compensation and reactive stepping

Manual guidance of humanoid robots without force sensors: Preliminary experiments with NAO

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