Integration of humanoid robots in collaborative working environment: a case study on motion generation

Abstract

This paper illustrates through a practical example an integration of a humanoid robotic architecture, with an open-platform collaborative working environment called BSCW (Be Smart-Cooperate Worldwide). BSCW is primarily designed to advocate a futuristic shared workspace system for humans. We exemplify how a complex robotic system (such as a humanoid robot) can be integrated as a proactive collaborative agent which provides services and interacts with other agents sharing the same collaborative environment workspace. Indeed, the robot is seen as a 'user' of the BSCW which is able to handle simple tasks and reports on their achievement status. We emphasis on the importance of using standard software such as CORBA (Common Object Request Broker Architecture) in order to easily build interfaces between several interacting complex software layers, namely from real-time constraints up to basic Internet data exchange.

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

“…It takes less than 1ms to compute the new weights of the ZMP and CoM trajectories. Between those peaks the pattern generator merely computes the polynomials given by (1) and (2).…”

“…In [1] we have presented how it is possible to integrate HRP-2 in such a collaborative environment to perform autonomously an inspection task. In [2] we have demonstrated how it is possible to teleoperate a walking HRP-2 while having the robot interacting with a local operator.…”

A study of influential factors in designing self-reconfigurable robots for green manufacturing

“…There is a bunch of research on drivers of using green practices Vachon and Klassen (2006), models towards enabling green manufacturing Deif 2011, and frameworks/techniques to develop selfreconfigurable robots Edwards et al (2009). Some other research intends to develop technical frameworks to increase the level of process automation Nakabo et al (2009;Stasse et al (2009), reduce the cost of production Quigley et al 2011, and energy consumption Brossog et al (2015;Brossog et al (2014;Riazi et al (2016). Such studies relating to this research have generally shown some insights of the effectiveness of robotic systems in the manufacturing process and propose useful techniques to reduce the energy consumption of robots associated with manual business processes.…”

Historical Perspective of Humanoid Robot Research in Europe

“…Human interaction and collaboration between humans and humanoid robots are key factors in the successful development of industrial applications, and this was the principal focus of the European project Robot@cwe. A remotely controlled humanoid robot connected to a collaborative working environment which walked and handled objects was demonstrated [50,51]. Vision, simultaneous localization, and real-time visual mapping (SLAM) is an active research theme for mobile robots, with results that are obviously applicable in humanoid robotics, for manipulation or walking [52] and [53].…”