Push Recovery and Active Balancing for Inexpensive Humanoid Robots PDF Download
Are you looking for read ebook online? Search for your book and save it on your Kindle device, PC, phones or tablets. Download Push Recovery and Active Balancing for Inexpensive Humanoid Robots PDF full book. Access full book title Push Recovery and Active Balancing for Inexpensive Humanoid Robots by Amirhossein Hosseinmemar. Download full books in PDF and EPUB format.
Author: Amirhossein Hosseinmemar Publisher: ISBN: Category : Languages : en Pages : 0
Book Description
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: Amirhossein Hosseinmemar Publisher: ISBN: Category : Languages : en Pages : 0
Book Description
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: Kaul, Lukas Sebastian Publisher: KIT Scientific Publishing ISBN: 3731509032 Category : Computers Languages : en Pages : 258
Book Description
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: Hamido Fujita Publisher: Springer Nature ISBN: 3030557898 Category : Computers Languages : en Pages : 931
Book Description
This book constitutes the thoroughly refereed proceedings of the 33rd International Conference on Industrial, Engineering and Other Applications of Applied Intelligent Systems, IEA/AIE 2020, held in Kitakyushu, Japan, in September 2020. The 62 full papers and 17 short papers presented were carefully reviewed and selected from 119 submissions. The IEA/AIE 2020 conference will continue the tradition of emphasizing on applications of applied intelligent systems to solve real-life problems in all areas. These areas include are language processing; robotics and drones; knowledge based systems; innovative applications of intelligent systems; industrial applications; networking applications; social network analysis; financial applications and blockchain; medical and health-related applications; anomaly detection and automated diagnosis; decision-support and agent-based systems; multimedia applications; machine learning; data management and data clustering; pattern mining; system control, classification, and fault diagnosis.
Author: Malek Mouhoub Publisher: Springer ISBN: 3319920588 Category : Computers Languages : en Pages : 914
Book Description
This book constitutes the thoroughly refereed proceedings of the 31st International Conference on Industrial, Engineering and Other Applications of Applied Intelligent Systems, IEA/AIE 2018, held in Montreal, QC, Canada, in June 2018. The 53 full papers and 33 short papers presented were carefully reviewed and selected from 146 submissions. They are organized in the following topical sections: constraint solving and optimization; data mining and knowledge discovery; evolutionary computation; expert systems and robotics; knowledge representation, machine learning; meta-heuristics; multi-agent systems; natural language processing; neural networks; planning, scheduling and spatial reasoning; rough sets, Internet of Things (IoT), ubiquitous computing and big data; data science, privacy, and security; inelligent systems approaches in information extraction; and artificial intelligence, law and justice.
Author: Benjamin Stephens Publisher: ISBN: Category : Robots Languages : en Pages : 180
Book Description
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: Lukas Sebastian Kaul Publisher: ISBN: 9781013279966 Category : Technology & Engineering Languages : en Pages : 254
Book Description
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. This work was published by Saint Philip Street Press pursuant to a Creative Commons license permitting commercial use. All rights not granted by the work's license are retained by the author or authors.
Author: Siddharth A. Oturkar Publisher: ISBN: Category : Languages : en Pages : 64
Book Description
Abstract: This thesis is concerned with a problem of balancing the humanoid robot after an external impact. Dynamic model of the humanoid robot is derived using Lagrangian dynamic formulation. Use of the maximum joint accelerations to reject disturbance is studied. In our approach, we propose the use of non-natural force like thruster on the torso of the humanoid robot for balance recovery. Mathematical simulation of derived dynamic model is performed using MATLAB. Plotted results prove the validity and usefulness of the proposed approach. We also show that, acceleration compensation and using thruster are complementary to each other. We prove that both techniques can be used together to reject large disturbances in minimum time.
Author: Saurav Singh Publisher: ISBN: Category : Robots Languages : en Pages : 68
Book Description
"Biped robots have come a long way in imitating a human being's anatomy and posture. Standing balance and push recovery are some of the biggest challenges for such robots. This work presents a novel simplified model for a humanoid robot to recover from external disturbances. The proposed Linearized Double Inverted Pendulum, models the dynamics of a complex humanoid robot that can use ankle and hip recovery strategies while taking full advantage of the advances in controls theory research. To support this, an LQR based control architecture is also presented in this work. The joint torque signals are generated along with ankle torque constraints to ensure the Center of Pressure stays within the support polygon. Simulation results show that the presented model can successfully recover from external disturbances while using minimal effort when compared to other widely used simplified models. It optimally uses the the torso weight to generate angular momentum about the pelvis of the robot to counter-balance the effects of external disturbances. The proposed method was validated on simulated `TigerBot-VII', a humanoid robot."--Abstract.
Author: Bernd Henze Publisher: Springer Nature ISBN: 3030872122 Category : Technology & Engineering Languages : en Pages : 209
Book Description
This book aims at providing algorithms for balance control of legged, torque-controlled humanoid robots. A humanoid robot normally uses the feet for locomotion. This paradigm is extended by addressing the challenge of multi-contact balancing, which allows a humanoid robot to exploit an arbitrary number of contacts for support. Using multiple contacts increases the size of the support polygon, which in turn leads to an increased robustness of the stance and to an increased kinematic workspace of the robot. Both are important features for facilitating a transition of humanoid robots from research laboratories to real-world applications, where they are confronted with multiple challenging scenarios, such as climbing stairs and ladders, traversing debris, handling heavy loads, or working in confined spaces. The distribution of forces and torques among the multiple contacts is a challenging aspect of the problem, which arises from the closed kinematic chain given by the robot and its environment.
Author: Amirhossein Hosseinmemar
Author: Amirhossein Hosseinmemar
Author: Kaul, Lukas Sebastian
Author: Hamido Fujita
Author: Malek Mouhoub
Author: Benjamin Stephens
Author: Lukas Sebastian Kaul
Author: Siddharth A. Oturkar
Author: Saurav Singh
Author: Bernd Henze
Author: Sara McGrath