Humanoid full-body controller adapting constraints in structured objects through updating task-level reference force

Nozawa, Satoshi; Kumagai, Iori; Kakiuchi, Yohei; Okada, Kei; Inaba, Masayuki

doi:10.1109/iros.2012.6386085

Cited by 17 publications

(12 citation statements)

References 22 publications

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“…For example, peg-hole contact or drawershelf contact is not included in OR contacts which we used. However, we could achieve drawer-pulling manipulation by using the same controller as door and cart pushing controller [8]. We need to discuss the relationship between accuracy of representation of contact states and used controller parameters.…”

Section: Discussionmentioning

confidence: 99%

“…In the contact-force controller, we utilized calculation of humanoid's COM trajectory based on Zero Moment Point (ZMP) considering the reaction forces at the hands [15]. The controller controls reaction forces at hands by using impedance controller and calculate full-body posture sequence [8] satisfying hands, feet, and COM trajectories. As a Motion Generator for 3D locomotion such as climbing, we employed quadratic programming considering inequality condition about limit torques, reaction forces, and frictions forces .…”

Section: A Experimental Condition and Implementationmentioning

confidence: 99%

“…The system also does not know the mass properties and necessary operational forces. We implemented estimator of the mass and the COM for "co-manip" phase, estimator of friction force and moment [16] for "dbl-f-manip" phases, and operational force updater for other phases [8]. …”

Section: A Experimental Condition and Implementationmentioning

confidence: 99%

“…It is important for the humanoid's controller to consider the actual contact states and adapt controller's behavior to it. By considering the contact states, related works have achieved locomotion such as biped walking and climbing [1] and various object manipulations such as liftingup [2], [3], pushing [4], [5], pivoting [6], and manipulating structured objects [7], [8].…”

Section: Introductionmentioning

confidence: 99%

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Description and execution of manipulation and locomotion by a humanoid robot using cascaded contact states graph

Nozawa

Murooka

Noda

et al. 2013

2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids)

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For a humanoid robot, both locomotion and object manipulation include contact state changes between the robot, an object, and an environment. It is important for the humanoid's controller system to know the actual contact states. In this paper, we propose a method to describe and execute humanoid's behavior including both object manipulation and locomotion by focusing on contact states. We represent contact states transition as a graph. We utilize Robot-Environment (RE) contact states for locomotion graph and Robot-Object (RO) and Object-Environment (OE) contact states for object manipulation graph. We construct humanoid's behavior by cascading a locomotion graph and a manipulation graph. By using cascaded graph description, we can use the same methods to observe contact states, execute motions autonomously, and recover from errors regardless of whether the current behavior is locomotion or object manipulation. Finally, we evaluate our proposed system through the experiments in which a life-sized humanoid performs 3D climbing and manipulation of an object with an unknown mass.

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Section: Discussionmentioning

confidence: 99%

Section: A Experimental Condition and Implementationmentioning

confidence: 99%

Section: A Experimental Condition and Implementationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Description and execution of manipulation and locomotion by a humanoid robot using cascaded contact states graph

Nozawa

Murooka

Noda

et al. 2013

2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids)

Self Cite

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“…Differently, [13] models the disturbance as a torque on the ZMP. Another closely related work is [14], which builds on [10] in pushing heavy objects. In particular, the range of allowable external forces is obtained from the model considering a pre-defined ZMP, as in [2].…”

Section: Introductionmentioning

confidence: 99%

Walking pattern generators designed for physical collaboration

Agravante

Sherikov

Wieber

et al. 2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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International audienceThis paper is about the design of humanoid walking pattern generators to be used for physical collaboration. A particular use case is a humanoid robot helping a human to carry large and/or heavy objects. To do this, we construct a reduced model which takes into account physical interaction. This is used in a model predictive control framework to generate separate behaviors for being a follower or a leader. The approach is then validated both on simulation and on the HRP-4 humanoid robot

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