Omni Planar Direction Push and Recovery System in Mimicking Human Actions for Humanoid Robotics PDF Download

Author: 洪文謙
Publisher:
ISBN:
Category :
Languages : en
Pages :

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Author: 黃照文
Publisher:
ISBN:
Category :
Languages : en
Pages :

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Author: Kaul, Lukas Sebastian
Publisher: KIT Scientific Publishing
ISBN: 3731509032
Category : Computers
Languages : en
Pages : 258

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Robustly maintaining balance on two legs is an important challenge for humanoid robots. The work presented in this book represents a contribution to this area. It investigates efficient methods for the decision-making from internal sensors about whether and where to step, several improvements to efficient whole-body postural balancing methods, and proposes and evaluates a novel method for efficient recovery step generation, leveraging human examples and simulation-based reinforcement learning.

Author: Benjamin Stephens
Publisher:
ISBN:
Category : Robots
Languages : en
Pages : 180

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Abstract: "Humanoid robots represent the state of the art in complex robot systems. High performance controllers that can handle unknown perturbations will be required if complex robots are to one day interact safely with people in everyday environments. Analyzing and predicting full-body behaviors is difficult in humanoid robots because of the high number of degrees of freedom and unstable nature of the dynamics. This thesis demonstrates the use of simple models to approximate the dynamics and simplify the design of reactive balance controllers. These simple models define distinct balance recovery strategies and improve state estimation. Push Recovery Model Predictive Control (PR-MPC), an optimization-based reactive balance controller that considers future actions and constraints using a simple COM model, is presented. This controller outputs feasible controls which are realized by Dynamic Balance Force Control (DBFC), a force controller that produces full-body joint torques. Push recovery, walking, and other force-based tasks are presented both in simulation and in experiments on the Sarcos Primus hydraulic humanoid robot."

Author: Yunhui Liu
Publisher: CRC Press
ISBN: 1439854882
Category : Medical
Languages : en
Pages : 343

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Book Description
Robotic engineering inspired by biology—biomimetics—has many potential applications: robot snakes can be used for rescue operations in disasters, snake-like endoscopes can be used in medical diagnosis, and artificial muscles can replace damaged muscles to recover the motor functions of human limbs. Conversely, the application of robotics technology to our understanding of biological systems and behaviors—biorobotic modeling and analysis—provides unique research opportunities: robotic manipulation technology with optical tweezers can be used to study the cell mechanics of human red blood cells, a surface electromyography sensing system can help us identify the relation between muscle forces and hand movements, and mathematical models of brain circuitry may help us understand how the cerebellum achieves movement control. Biologically Inspired Robotics contains cutting-edge material—considerably expanded and with additional analysis—from the 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO). These 16 chapters cover both biomimetics and biorobotic modeling/analysis, taking readers through an exploration of biologically inspired robot design and control, micro/nano bio-robotic systems, biological measurement and actuation, and applications of robotics technology to biological problems. Contributors examine a wide range of topics, including: A method for controlling the motion of a robotic snake The design of a bionic fitness cycle inspired by the jaguar The use of autonomous robotic fish to detect pollution A noninvasive brain-activity scanning method using a hybrid sensor A rehabilitation system for recovering motor function in human hands after injury Human-like robotic eye and head movements in human–machine interactions A state-of-the-art resource for graduate students and researchers in the fields of control engineering, robotics, and biomedical engineering, this text helps readers understand the technology and principles in this emerging field.

Author: Amirhossein Hosseinmemar
Publisher:
ISBN:
Category :
Languages : en
Pages : 0

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Active balancing of a humanoid robot is a challenging task due to the complexity of combining a walking gait, dynamic balancing, vision and high-level behaviors. My Ph.D research focuses on the active balancing and push recovery problems that allow inexpensive humanoid robots to balance while standing and walking, and to compensate for external forces. In this research, I have proposed a push recovery mechanism that employs two machine learning techniques, Reinforcement Learning (RL) and Deep Reinforcement Learning (DRL) to learn recovery step trajectories during push recovery using a closed-loop feedback control. I have implemented a 3D model using the Robot Operating System (ROS) and Gazebo. To reduce wear and tear on the real robot, I used this model for learning the recovery steps for different impact strengths and directions. I evaluated my approach in both in the real world and in simulation. All the real world experiments are performed by Polaris, a teen- sized humanoid robot in the Autonomous Agent Laboratory (AALab), University of Manitoba. The design, implementation, and evaluation of hardware, software, and kinematic models are discussed in this document.

Author: Roland Siegwart
Publisher: MIT Press
ISBN: 0262295091
Category : Computers
Languages : en
Pages : 473

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Book Description
The second edition of a comprehensive introduction to all aspects of mobile robotics, from algorithms to mechanisms. Mobile robots range from the Mars Pathfinder mission's teleoperated Sojourner to the cleaning robots in the Paris Metro. This text offers students and other interested readers an introduction to the fundamentals of mobile robotics, spanning the mechanical, motor, sensory, perceptual, and cognitive layers the field comprises. The text focuses on mobility itself, offering an overview of the mechanisms that allow a mobile robot to move through a real world environment to perform its tasks, including locomotion, sensing, localization, and motion planning. It synthesizes material from such fields as kinematics, control theory, signal analysis, computer vision, information theory, artificial intelligence, and probability theory. The book presents the techniques and technology that enable mobility in a series of interacting modules. Each chapter treats a different aspect of mobility, as the book moves from low-level to high-level details. It covers all aspects of mobile robotics, including software and hardware design considerations, related technologies, and algorithmic techniques. This second edition has been revised and updated throughout, with 130 pages of new material on such topics as locomotion, perception, localization, and planning and navigation. Problem sets have been added at the end of each chapter. Bringing together all aspects of mobile robotics into one volume, Introduction to Autonomous Mobile Robots can serve as a textbook or a working tool for beginning practitioners. Curriculum developed by Dr. Robert King, Colorado School of Mines, and Dr. James Conrad, University of North Carolina-Charlotte, to accompany the National Instruments LabVIEW Robotics Starter Kit, are available. Included are 13 (6 by Dr. King and 7 by Dr. Conrad) laboratory exercises for using the LabVIEW Robotics Starter Kit to teach mobile robotics concepts.

Author: Vincenzo Parenti-Castelli
Publisher: Springer
ISBN: 3319337149
Category : Technology & Engineering
Languages : en
Pages : 436

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Book Description
This proceedings volume contains papers that have been selected after review for oral presentation at ROMANSY 2016, the 21th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators. These papers cover advances on several aspects of the wide field of Robotics as concerning Theory and Practice of Robots and Manipulators. ROMANSY 2016 is the 21st event in a series that started in 1973 as one of the first conference activities in the world on Robotics. The first event was held at CISM (International Centre for Mechanical Science) in Udine, Italy on 5-8 September 1973. It was also the first topic conference of IFToMM (International Federation for the Promotion of Mechanism and Machine Science) and it was directed not only to the IFToMM community.

Author: Kenneth J. Waldron
Publisher: World Scientific Publishing Company Incorporated
ISBN: 9789814525527
Category : Computers
Languages : en
Pages : 861

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Book Description
The proceedings provide state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and assistive technologies. The proceedings collected together peer reviewed articles presented at the CLAWAR 2013 conference. It contains a strong showing of articles on legged locomotion with numbers of legs from two onwards. There is also a good collection of articles on systems that walls climbing, poles balancing, and other more complex structures following the traditional of CLAWAR themes. In addition, the proceedings also cover the subject of robot-human interaction, which focus on a more “human” way of communicating with humanoid robots. As for human assistive devices, proceedings also cover exoskeletal and prosthetic devices, robots for personal and nursing cares to address the issues of ageing population in our society. Finally, the issue of the deployment of robots in society, it social and ethically consideration are also addressed in the proceedings.

Author: Abul K. M. Azad
Publisher: World Scientific
ISBN: 9814415944
Category : Technology & Engineering
Languages : en
Pages : 904

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Book Description
This book provides state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and associated support technologies. The book contains peer reviewed articles presented at the CLAWAR 2012 conference. Robots are no longer confined to industrial and manufacturing environments. A great deal of interest is invested in the use of robots outside the factory environment. The CLAWAR conference series, established as a high profile international event, acts as a platform for dissemination of research and development findings and supports such a trend to address the current interest in mobile robotics to meet the needs of mankind in various sectors of the society. These include personal care, public health, services in the domestic, public and industrial environments. The editors of the book have extensive research experience and publications in the area of robotics in general and in mobile robotics specifically, and their experience is reflected in editing the contents of the book.