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

Bellaccini, Marco; Lanari, Leonardo; Paolillo, Antonio; Vendittelli, Marilena

doi:10.1109/icra.2014.6907003

Cited by 14 publications

(6 citation statements)

References 12 publications

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“…Although most research has focused on a robot handing objects to humans, there have also been studies on robots taking objects from humans (93)(94)(95). Additionally, several efforts have been aimed at enabling a robot to manipulate objects jointly with humans, and the act of carrying objects jointly with humans has been demonstrated using both humanoid robots (96)(97)(98)(99) and mobile manipulators (100)(101)(102)(103). Notable recent efforts have explored humanrobot joint manipulation of deformable materials (104), helping humans to dress (105), and assistive support (106).…”

Section: Learning For Manipulationmentioning

confidence: 99%

Trends and challenges in robot manipulation

Billard

Kragić

2019

Science

528

236

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Dexterous manipulation is one of the primary goals in robotics. Robots with this capability could sort and package objects, chop vegetables, and fold clothes. As robots come to work side by side with humans, they must also become human-aware. Over the past decade, research has made strides toward these goals. Progress has come from advances in visual and haptic perception and in mechanics in the form of soft actuators that offer a natural compliance. Most notably, immense progress in machine learning has been leveraged to encapsulate models of uncertainty and to support improvements in adaptive and robust control. Open questions remain in terms of how to enable robots to deal with the most unpredictable agent of all, the human.

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Section: Learning For Manipulationmentioning

confidence: 99%

Trends and challenges in robot manipulation

Billard

Kragić

2019

Science

528

236

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“…4 presents a block diagram of the raw acceleration data processing. The projection into an inertial frame and the gravity compensation steps are implemented as presented in [20].…”

Section: Zmpmentioning

confidence: 99%

External Force Observer for Small- and Medium-Sized Humanoid Robots

Hawley

Rahem

Suleiman

2019

Int. J. Human. Robot.

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External force observer for humanoid robots has been widely studied in the literature. However, most of the proposed approaches generally rely on information from six-axis force/torque sensors, which the small or medium-sized humanoid robots usually do not have. As a result, those approaches cannot be applied to this category of humanoid robots, which are widely used nowadays in education or research. In this paper, we propose a Kalman filter-based observer to estimate the three components of an external force applied in any direction and at an arbitrary point of the robot’s structure. The observer is simple to implement and can easily run in real time using the embedded processor of a small or medium-sized humanoid robot such as Nao or Darwin-OP. Moreover, the observer does not require any changes to the robot’s hardware, as it only uses measurements from the available force-sensing resistors (FSR) inserted under the feet of the humanoid robot and from the robot’s inertial measurement unit (IMU). The proposed observer was extensively validated on a Nao humanoid robot in both cases of standing still or walking while an external force was applied to the robot. In the conducted experiments, the observer successfully estimated the external force within a reasonable margin of error. Moreover, the experimental data and the MATLAB and C++/ROS implementations of the proposed observer are available as an open source package. https://goo.gl/VkhejY.

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“…3 presents a block diagram of the raw acceleration data processing. The projection into an inertial frame and the gravity compensation steps are implemented as presented in [12]. 2) CoM Position: In order to determine the CoM position, we make the assumption that the trunk of Nao is the center of mass.…”

Section: A X Zm P Computationmentioning

confidence: 99%

External force observer for medium-sized humanoid robots

Hawley

Suleiman

2016

2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)

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In this paper, we introduce a method to estimate the magnitude of an external force applied on a humanoid robot. The approach does not require using force/torque sensors but instead uses measurements from commonly available forcesensing resistors (FSR) inserted under the feet of the humanoid robot. This approach is particularly interesting for affordable medium-sized humanoid robots such as Nao and Darwin-OP. The main idea is to use a simplified dynamic model of a linear inverted pendulum model (LIPM) subjected to an external force, and the information from the robot inertial measurement unit (IMU) and FSR sensors.The proposed method was validated on a Nao humanoid robot to estimate the external force applied in the sagittal plane through two experimental scenarios, and the results pointed out the efficiency of the proposed observer.

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

Cited by 14 publications

References 12 publications

Trends and challenges in robot manipulation

Trends and challenges in robot manipulation

External Force Observer for Small- and Medium-Sized Humanoid Robots

External force observer for medium-sized humanoid robots

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