Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot

Abstract-We propose a formal analysis with some theoretical properties of weight-prioritized multi-task inverse-dynamics-like control of humanoid robots, being a case of redundant "manipulators" with a non-actuated free-floating base and multiple unilateral frictional contacts with the environment. The controller builds on a weighted sum scalarization of a multiobjective optimization problem under equality and inequality constraints, which appears as a straightforward solution to account for state and control input viability constraints characteristic of humanoid robots that were usually absent from early existing pseudo-inverse and null-space projection-based prioritized multitask approaches. We argue that our formulation is indeed well founded and justified from a theoretical standpoint, and we propose an analysis of some stability properties of the approach: Lyapunov stability is demonstrated for the closed-loop dynamical system that we analytically derive in the unconstrained multiobjective optimization case. Stability in terms of solution existence, uniqueness, continuity, and robustness to perturbations, is then formally demonstrated for the constrained quadratic program.

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“…6 and QP 1]. However, their formulation was also inspired by the classical framework analyzed here (see the discussion in [45,Sec. 4.4]).…”

Section: Casting the Problem As A Qpmentioning

confidence: 99%

On Weight-Prioritized Multitask Control of Humanoid Robots

Bouyarmane

Kheddar

2018

IEEE Trans. Automat. Contr.

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“…Finally the recent advances on whole-body control rely mostly on complex optimization problems solved in an efficient manner [12], [13], [14], [15], [16]. This involves a significant computational power available on the robot.…”

Section: A Availability Of Recent Humanoid Robot Technologiesmentioning

confidence: 99%

TALOS: A new humanoid research platform targeted for industrial applications

Stasse

Flayols

Budhiraja

et al. 2017

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)

124

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Abstract-The upcoming generation of humanoid robots will have to be equipped with state-of-the-art technical features along with high industrial quality, but they should also offer the prospect of effective physical human interaction. In this paper we introduce a new humanoid robot capable of interacting with a human environment and targeting industrial applications. Limitations are outlined and used together with the feedback from the DARPA Robotics Challenge, and other teams leading the field in creating new humanoid robots. The resulting robot is able to handle weights of 6 kg with an out-stretched arm, and has powerful motors to carry out fast movements. Its kinematics have been specially designed for screwing and drilling motions. In order to make interaction with human operators possible, this robot is equipped with torque sensors to measure joint effort and high resolution encoders to measure both motor and joint positions.The humanoid robotics field has reached a stage where robustness and repeatability is the next watershed. We believe that this robot has the potential to become a powerful tool for the research community to successfully navigate this turning point, as the humanoid robot HRP-2 was in its own time.

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“…В январе 2015 года была представлена обновленная модель робота [16]. Модернизированный Atlas был обновлен практически полностью (на 75 %) -от оригинального дизайна остались только голени и ступни.…”

Section: робот-санитар Bear (Battlefield Extraction-assist Robotunclassified

“…Эти ново-введения позволяют управлять насосом переменного давления, который поз-воляет увеличить коэффициент полезного действия искусственных гидравли-ческих мышц робота. Другие основные обновления направлены на повыше-ние эффективности, ловкости, устойчивости [17,18]:…”

Section: робот-санитар Bear (Battlefield Extraction-assist Robotunclassified