Self-Body Image Acquisition and Posture Generation With Redundancy Using Musculoskeletal Humanoid Shoulder Complex for Object Manipulation

Koga, Yuya; Kawaharazuka, Kento; Toshimitsu, Yasunori; Nishiura, Manabu; Omura, Yusuke; Asano, Yuki; Okada, Kei; Kawasaki, Koji; Inaba, Masayuki

doi:10.1109/lra.2021.3095318

Cited by 3 publications

(1 citation statement)

References 12 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Aiming at the problems encountered in the process of image acquisition of human body structure imaging, Koga et al proposed an inverse kinematics method to reconstruct human body posture and shape. Finally, the effectiveness of the improved imaging image acquisition was verified by the driving experiment of the car [4]. Lee and his team reviewed and analyzed the existing realtime imaging image information acquisition methods.…”

Section: Related Workmentioning

confidence: 99%

Visual Communication-Based Virtual Reality Design of Imaging Information Collection and Display System

Sun

2022

Wireless Communications and Mobile Computing

View full text Add to dashboard Cite

Imaging image acquisition and display has always been an important application field of visual communication art. A good imaging acquisition and display system can give the audience an excellent visual experience. However, conventional imaging image acquisition equipment is too bulky and expensive. At the same time, the existing imaging acquisition technology is generally only suitable for two-dimensional plane design. It is difficult to construct the three-dimensional and realistic sense of actual objects, which makes the development of the entire imaging system slow. Existing imaging acquisition technologies have difficulty keeping pace with the technological age. In this paper, according to the actual needs, a three-dimensional imaging technology was proposed to improve the efficiency of imaging image acquisition. And the principle of imaging information display was used to enhance the visual communication effect. Then, at the algorithm level, virtual reality technology was combined with convolutional neural network-related algorithms to improve the overall accuracy of the algorithm and control the error well. The experimental results showed that the optimized VR technology leads the whole stage in terms of mean square error. Among them, after testing 400 samples in the two experiments, the error performance is controlled below 0.32, and the best error control performance is 0.07; the unoptimized virtual reality technology error control is not ideal. The minimum error failed to break below 0.2, and the optimized algorithm had a high accuracy of 99.3%, which greatly improved the feasibility of the imaging information acquisition and display system.

show abstract

Section: Related Workmentioning

confidence: 99%

Visual Communication-Based Virtual Reality Design of Imaging Information Collection and Display System

Sun

2022

Wireless Communications and Mobile Computing

View full text Add to dashboard Cite

show abstract

Bimanual Continuous Steering Wheel Turning by a Dual-Arm Robot

Dong,

Yu,

Chen

et al. 2024

IEEE/ASME Trans. Mechatron.

View full text Add to dashboard Cite

A Friction-Driven Strategy for Agile Steering Wheel Manipulation by Humanoid Robots

Cai,

Zhu,

Gergondet

et al. 2023

Cyborg Bionic Syst

View full text Add to dashboard Cite

Vehicle driving can substantially enhance the maneuverability of humanoid robots. Agile steering wheel manipulation requires rapid rotation in narrow spaces such as a cab, serving as the foundation for increasing driving speed, especially in an obstacle avoidance scenario. Generally, there are 3 human driving strategies, “Hand-to-Hand,” “Hand-over-Hand,” and “One-Hand.” Based on the human driving motion data, we quantitatively analyze these strategies from 3 aspects, motion range of joint combination, motion region of the shoulder, and velocity of the manipulation. Then, a friction-driven manipulation strategy using one hand is proposed utilizing the similarity between a humanoid robot and a driver (human). It effectively addresses the requirements of both a small range of motion and rapid manipulation. To prevent the deformation of the steering wheel caused by excessive force, we construct an operating force model specifically for the steering wheel. This model accurately describes the relationship between the rotation resistance and the state of the steering wheel. In addition, we propose a quadratic programming (QP)-based control framework to servo the robot to track the end-effector position and target wrench output by this model. Finally, the effectiveness of this paper is evaluated through an obstacle avoidance scenario, achieving a maximum rotation velocity of 3.14 rad/s.

show abstract

Self-Body Image Acquisition and Posture Generation With Redundancy Using Musculoskeletal Humanoid Shoulder Complex for Object Manipulation

Cited by 3 publications

References 12 publications

Visual Communication-Based Virtual Reality Design of Imaging Information Collection and Display System

Visual Communication-Based Virtual Reality Design of Imaging Information Collection and Display System

Bimanual Continuous Steering Wheel Turning by a Dual-Arm Robot

A Friction-Driven Strategy for Agile Steering Wheel Manipulation by Humanoid Robots

Contact Info

Product

Resources

About