Analytical Configuration of Wheeled Robotic Locomotion
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Control in Robotics
Control in Robotics Mark W. Spong and Masayuki Fujita Introduction The interplay between robotics and control theory has a rich history extending back over half a century. We begin this section of the report by briefly reviewing the history of this interplay, focusing on fundamentals—how control theory has enabled solutions to fundamental problems in robotics and how problems in robotics have motivated the development of new control theory. We focus primarily on the early years, as the importance of new results often takes considerable time to be fully appreciated and to have an impact on practical applications. Progress in robotics has been especially rapid in the last decade or two, and the future continues to look bright. Robotics was dominated early on by the machine tool industry. As such, the early philosophy in the design of robots was to design mechanisms to be as stiff as possible with each axis (joint) controlled independently as a single-input/single-output (SISO) linear system. Point-to-point control enabled simple tasks such as materials transfer and spot welding. Continuous-path tracking enabled more complex tasks such as arc welding and spray painting. Sensing of the external environment was limited or nonexistent. Consideration of more advanced tasks such as assembly required regulation of contact forces and moments. Higher speed operation and higher payload-to-weight ratios required an increased understanding of the complex, interconnected nonlinear dynamics of robots. This requirement motivated the development of new theoretical results in nonlinear, robust, and adaptive control, which in turn enabled more sophisticated applications. Today, robot control systems are highly advanced with integrated force and vision systems. -
Principles of Robot Locomotion
Principles of robot locomotion Sven Böttcher Seminar ‘Human robot interaction’ Index of contents 1. Introduction................................................................................................................................................1 2. Legged Locomotion...................................................................................................................................2 2.1 Stability................................................................................................................................................3 2.2 Leg configuration.................................................................................................................................4 2.3 One leg.................................................................................................................................................5 2.4 Two legs...............................................................................................................................................7 2.5 Four legs ..............................................................................................................................................9 2.6 Six legs...............................................................................................................................................11 3 Wheeled Locomotion................................................................................................................................13 3.1 Wheel types .......................................................................................................................................13 -
Ph. D. Thesis Stable Locomotion of Humanoid Robots Based
Ph. D. Thesis Stable locomotion of humanoid robots based on mass concentrated model Author: Mario Ricardo Arbul´uSaavedra Director: Carlos Balaguer Bernaldo de Quiros, Ph. D. Department of System and Automation Engineering Legan´es, October 2008 i Ph. D. Thesis Stable locomotion of humanoid robots based on mass concentrated model Author: Mario Ricardo Arbul´uSaavedra Director: Carlos Balaguer Bernaldo de Quiros, Ph. D. Signature of the board: Signature President Vocal Vocal Vocal Secretary Rating: Legan´es, de de Contents 1 Introduction 1 1.1 HistoryofRobots........................... 2 1.1.1 Industrialrobotsstory. 2 1.1.2 Servicerobots......................... 4 1.1.3 Science fiction and robots currently . 10 1.2 Walkingrobots ............................ 10 1.2.1 Outline ............................ 10 1.2.2 Themes of legged robots . 13 1.2.3 Alternative mechanisms of locomotion: Wheeled robots, tracked robots, active cords . 15 1.3 Why study legged machines? . 20 1.4 What control mechanisms do humans and animals use? . 25 1.5 What are problems of biped control? . 27 1.6 Features and applications of humanoid robots with biped loco- motion................................. 29 1.7 Objectives............................... 30 1.8 Thesiscontents ............................ 33 2 Humanoid robots 35 2.1 Human evolution to biped locomotion, intelligence and bipedalism 36 2.2 Types of researches on humanoid robots . 37 2.3 Main humanoid robot research projects . 38 2.3.1 The Humanoid Robot at Waseda University . 38 2.3.2 Hondarobots......................... 47 2.3.3 TheHRPproject....................... 51 2.4 Other humanoids . 54 2.4.1 The Johnnie project . 54 2.4.2 The Robonaut project . 55 2.4.3 The COG project . -
Automation and the Future of Work–1’, Nlr 119, Sept–Oct 2019
Part 1: New Left Review 119, Sept Oct 2019 Part 2: New Left Review 120, Nov Dec 2019 aaron benanav AUTOMATION AND THE FUTURE OF WORK—1 he world is abuzz with talk of automation. Rapid advances in artificial intelligence, machine learning and robotics seem set to transform the world of work. In the most advanced factories, companies like Tesla have been aiming for ‘lights- Tout’ production, in which fully automated work processes, no longer needing human hands, can run in the dark. Meanwhile, in the illu- minated halls of robotics conventions, machines are on display that can play ping-pong, cook food, have sex and even hold conversations. Computers are not only developing new strategies for playing Go, but are said to be writing symphonies that bring audiences to tears. Dressed in white lab coats or donning virtual suits, computers are learning to identify cancers and will soon be developing legal strategies. Trucks are already barrelling across the us without drivers; robotic dogs are carry- ing military-grade weapons across desolate plains. Are we living in the last days of human toil? Is what Edward Bellamy once called the ‘edict of Eden’ about to be revoked, as ‘men’—or at least, the wealthiest among them—become like gods?1 There are many reasons to doubt the hype. For one thing, machines remain comically incapable of opening doors or, alas, folding laundry. Robotic security guards are toppling into mall fountains. Computerized digital assistants can answer questions and translate documents, but not well enough to do the job without human intervention; the same is true of self-driving cars.2 In the midst of the American ‘Fight for Fifteen’ movement, billboards went up in San Francisco threatening to replace fast-food workers with touchscreens if a law raising the minimum wage were passed. -
Modeling and Control of Legged Robots Pierre-Brice Wieber, Russ Tedrake, Scott Kuindersma
Modeling and Control of Legged Robots Pierre-Brice Wieber, Russ Tedrake, Scott Kuindersma To cite this version: Pierre-Brice Wieber, Russ Tedrake, Scott Kuindersma. Modeling and Control of Legged Robots. Springer Handbook of Robotics, Springer International Publishing, pp.1203-1234, 2016, 10.1007/978- 3-319-32552-1_48. hal-02487855 HAL Id: hal-02487855 https://hal.inria.fr/hal-02487855 Submitted on 21 Feb 2020 HAL is a multi-disciplinary open access L’archive ouverte pluridisciplinaire HAL, est archive for the deposit and dissemination of sci- destinée au dépôt et à la diffusion de documents entific research documents, whether they are pub- scientifiques de niveau recherche, publiés ou non, lished or not. The documents may come from émanant des établissements d’enseignement et de teaching and research institutions in France or recherche français ou étrangers, des laboratoires abroad, or from public or private research centers. publics ou privés. Chapter 48 Modeling and Control of Legged Robots Summary Introduction The promise of legged robots over standard wheeled robots is to provide im- proved mobility over rough terrain. This promise builds on the decoupling between the environment and the main body of the robot that the presence of articulated legs allows, with two consequences. First, the motion of the main body of the robot can be made largely independent from the roughness of the terrain, within the kinematic limits of the legs: legs provide an active suspen- sion system. Indeed, one of the most advanced hexapod robots of the 1980s was aptly called the Adaptive Suspension Vehicle [1]. Second, this decoupling al- lows legs to temporarily leave their contact with the ground: isolated footholds on a discontinuous terrain can be overcome, allowing to visit places absolutely out of reach otherwise. -
Exploring Humanoid Robot Locomotion Capabilities in Virtual Disaster Response Scenarios Karim Bouyarmane, Joris Vaillant, François Keith, Abderrahmane Kheddar
Exploring Humanoid Robot Locomotion Capabilities in Virtual Disaster Response Scenarios Karim Bouyarmane, Joris Vaillant, François Keith, Abderrahmane Kheddar To cite this version: Karim Bouyarmane, Joris Vaillant, François Keith, Abderrahmane Kheddar. Exploring Humanoid Robot Locomotion Capabilities in Virtual Disaster Response Scenarios. Humanoids, Nov 2012, Osaka, Japan. pp.337-342. lirmm-00765817 HAL Id: lirmm-00765817 https://hal-lirmm.ccsd.cnrs.fr/lirmm-00765817 Submitted on 16 Dec 2012 HAL is a multi-disciplinary open access L’archive ouverte pluridisciplinaire HAL, est archive for the deposit and dissemination of sci- destinée au dépôt et à la diffusion de documents entific research documents, whether they are pub- scientifiques de niveau recherche, publiés ou non, lished or not. The documents may come from émanant des établissements d’enseignement et de teaching and research institutions in France or recherche français ou étrangers, des laboratoires abroad, or from public or private research centers. publics ou privés. Exploring Humanoid Robots Locomotion Capabilities in Virtual Disaster Response Scenarios Karim Bouyarmane∗, Joris Vaillant†, Franc¸ois Keith† and Abderrahmane Kheddar† †CNRS-AIST Joint Robotics Laboratory (JRL), UMI3218/CRT, Tsukuba, Japan CNRS-UM2 Laboratoire d’Informatique de Robotique et de Microelectronique´ de Montpellier (LIRMM), France ∗ATR Computational Neuroscience Laboratories, Kyoto, Japan Abstract—We study the feasibility of having various hu- We thereby selected three benchmarking scenarios inspired manoid robots undertake some tasks from those challenged by the challenge: climbing an industrial ladder, getting into by the DARPA’s call on disaster operations. Hence, we focus a utility vehicle, crawling about in an unstructured envi- on locomotion tasks that apparently require human-like motor skills to be achieved. -
Introduction to Robotics
Introduction to Robotics Jan Faigl Department of Computer Science Faculty of Electrical Engineering Czech Technical University in Prague Lecture 01 B4M36UIR – Artificial Intelligence in Robotics Jan Faigl, 2018 B4M36UIR – Lecture 01: Introduction to Robotics 1 / 52 Overview of the Lecture Part 1 – Course Organization Course Goals Means of Achieving the Course Goals Evaluation and Exam Part 2 – Introduction to Robotics Robots and Robotics Challenges in Robotics What is a Robot? Locomotion Jan Faigl, 2018 B4M36UIR – Lecture 01: Introduction to Robotics 2 / 52 Course Goals Means of Achieving the Course Goals Evaluation and Exam Part I Part 1 – Course Organization Jan Faigl, 2018 B4M36UIR – Lecture 01: Introduction to Robotics 3 / 52 Course Goals Means of Achieving the Course Goals Evaluation and Exam Outline Course Goals Means of Achieving the Course Goals Evaluation and Exam Jan Faigl, 2018 B4M36UIR – Lecture 01: Introduction to Robotics 4 / 52 Course Goals Means of Achieving the Course Goals Evaluation and Exam Course and Lecturers B4M36UIR – Artificial Intelligence in Robotics https://cw.fel.cvut.cz/wiki/courses/b4m36uir/ Department of Computer Science – http://cs.fel.cvut.cz Artificial Intelligence Center (AIC) – http://aic.fel.cvut.cz Lecturers doc. Ing. Jan Faigl, Ph.D. Center for Robotics and Autonomous Systems (CRAS) http://robotics.fel.cvut.cz Computational Robotics Laboratory (ComRob) http://comrob.fel.cvut.cz Mgr. Viliam Lisý, M.Sc., Ph.D. Game Theory (GT) research group Adversarial planning, Game Theory, Jan Faigl, 2018 -
Mixed Reality Technologies for Novel Forms of Human-Robot Interaction
Dissertation Mixed Reality Technologies for Novel Forms of Human-Robot Interaction Dissertation with the aim of achieving a doctoral degree at the Faculty of Mathematics, Informatics and Natural Sciences Dipl.-Inf. Dennis Krupke Human-Computer Interaction and Technical Aspects of Multimodal Systems Department of Informatics Universität Hamburg November 2019 Review Erstgutachter: Prof. Dr. Frank Steinicke Zweitgutachter: Prof. Dr. Jianwei Zhang Drittgutachter: Prof. Dr. Eva Bittner Vorsitzende der Prüfungskomission: Prof. Dr. Simone Frintrop Datum der Disputation: 17.08.2020 “ My dear Miss Glory, Robots are not people. They are mechanically more perfect than we are, they have an astounding intellectual capacity, but they have no soul.” Karel Capek Abstract Nowadays, robot technology surrounds us and future developments will further increase the frequency of our everyday contacts with robots in our daily life. To enable this, the current forms of human-robot interaction need to evolve. The concept of digital twins seems promising for establishing novel forms of cooperation and communication with robots and for modeling system states. Machine learning is now ready to be applied to a multitude of domains. It has the potential to enhance artificial systems with capabilities, which so far are found in natural intelligent creatures, only. Mixed reality experienced a substantial technological evolution in recent years and future developments of mixed reality devices seem to be promising, as well. Wireless networks will improve significantly in the next years and thus, latency and bandwidth limitations will be no crucial issue anymore. Based on the ongoing technological progress, novel interaction and communication forms with robots become available and their application to real-world scenarios becomes feasible. -
Modeling and Control of Legged Robots
Chapter 48 Modeling and Control of Legged Robots Summary Introduction The promise of legged robots over standard wheeled robots is to provide im- proved mobility over rough terrain. This promise builds on the decoupling between the environment and the main body of the robot that the presence of articulated legs allows, with two consequences. First, the motion of the main body of the robot can be made largely independent from the roughness of the terrain, within the kinematic limits of the legs: legs provide an active suspen- sion system. Indeed, one of the most advanced hexapod robots of the 1980s was aptly called the Adaptive Suspension Vehicle [1]. Second, this decoupling al- lows legs to temporarily leave their contact with the ground: isolated footholds on a discontinuous terrain can be overcome, allowing to visit places absolutely out of reach otherwise. Note that having feet firmly planted on the ground is not mandatory here: skating is an equally interesting option, although rarely approached so far in robotics. Unfortunately, this promise comes at the cost of a hindering increase in complexity. It is only with the unveiling of the Honda P2 humanoid robot in 1996 [2], and later of the Boston Dynamics BigDog quadruped robot in 2005 that legged robots finally began to deliver real-life capabilities that are just beginning to match the long sought animal-like mobility over rough terrain. Not matching yet the capabilities of humans and animals, legged robots do contribute however already to understanding their locomotion, as evidenced by the many fruitful collaborations between robotics and biomechanics researchers. -
Robot Locomotion Henrik I Robot Locomotion Christensen
Robot Locomotion Henrik I Robot Locomotion Christensen Introduction Concepts Henrik I Christensen Legged Wheeled Summary Centre for Autonomous Systems Kungl Tekniska H¨ogskolan [email protected] March 22, 2006 Outline Robot Locomotion Henrik I Christensen Introduction Concepts Legged Concepts Wheeled Legged Locomotion Summary Wheel Locomotion The overall system layout Robot Locomotion Henrik I Christensen Introduction Concepts Legged Wheeled Summary Locomotion Concepts: those found in nature Robot Locomotion Henrik I Christensen Introduction Concepts Legged Wheeled Summary Locomotion Concepts Robot Locomotion Henrik I Christensen Introduction Concepts Concepts found in nature Legged Difficult to imitate technically Wheeled Technical systems often use wheels or caterpillars/tracks Summary Rolling is more efficient, but not found in nature Nature never invented the wheel! However the movement of walking biped is close to rolling Biped Walking Robot Locomotion Henrik I Christensen Introduction Biped walking mechanism Concepts not to far from real rolling Legged rolling of a polygon with side Wheeled length equal to step length Summary the smaller the step the closer approximation to a circle However, full rolling not developed in nature Passive walking examples Robot Locomotion Henrik I Christensen Introduction Concepts Legged Video of passive walking example Wheeled Video of real passive walking system (Steve) Summary Video of passive walking system (Delft) Walking or rolling? Robot Locomotion Henrik I Christensen Introduction Number of actuators -
Robot Locomotion on Hard and Soft Ground: Measuring Stability and Ground Properties In-Situ
2016 IEEE International Conference on Robotics and Automation (ICRA) Stockholm, Sweden, May 16-21, 2016 Robot locomotion on hard and soft ground: measuring stability and ground properties in-situ Will Bosworth1, Jonas Whitney2, Sangbae Kim1, and Neville Hogan1;3 Abstract— Dynamic behavior of legged robots is strongly affected by ground impedance. Empirical observation of robot hardware is needed because ground impedance and foot-ground interaction is challenging to predict in simulation. This paper presents experimental data of the MIT Super Mini Cheetah robot hopping on hard and soft ground. We show that con- trollers tuned for each surface perform better for each specific surface type, assessing performance using measurements of 1.) stability of the robot in response to self-disturbances applied by the robot onto itself and 2.) the peak accelerations of the robot that occur during ground impact, which should be minimized to reduce mechanical stress. To aid in controller selection on different ground types, we show that the robot can measure ground stiffness and friction in-situ by measuring Fig. 1: The Super Mini Cheetah (SMC) quadrupedal robot: a small its own interaction with the ground. To motivate future work quadrupedal robot capable of indoor and outdoor behaviors such as walking, in variable-terrain control and in-situ ground measurement, hopping, running, turning and stopping. The robot is used in this study we show preliminary results of running gaits that transition to evaluate hopping over hard and soft ground and to measure ground between hard and soft ground. properties in-situ. I. INTRODUCTION Legged robots are most valuable when they can operate results of the SMC robot running between hard and soft dynamically in unexplored, variable terrain. -
Robot Program
Celebrating AAAI's 25th Anniversary The Twentieth National Conference on Artificial Intelligence July 9-13, 2005, Pittsburgh, Pennsylvania We invite you to participate in the Fourteenth Annual AAAI Mobile Robot Competition and Exhibition, sponsored by the American Association for Artificial Intelligence. The Competition brings together teams from universities, colleges, and research laboratories to compete and to demonstrate cutting edge, state of the art research in robotics and artificial intelligence. The 2005 AAAI Mobile Robot Contest and Exhibition will include the Robot Challenge, the Open Interaction Task, the Scavenger Hunt, the Robot Exhibition, and the Mobile Robot Workshop. Registration is now open (final deadline is May 31). Full details of the events are available on the separate robot website. Competition Awards Scavenger Hunt First Place : Sony Aibo Prize HMC Hammer, Harvey Mudd College Open Interaction First Place : Evolution Robotics Prize Human Emulation Robots, Hanson Robotics Challenge : ActivMedia Prize LABORIUS, Universite de Sherbrooke Technical Achievement Awards Map Building and HRI LABORIUS, Université de Sherbrooke Overall Excellence for a Fully Autonomous System HMC Hammer, Harvey Mudd College Robust Path Fnding and Object Recognition UML Robotics Lab, University of Massachusetts, Lowell Control Interface Usability UML Robotics Lab, University of Massachusetts, Lowell Visionary Hardware Concept Claytronics, Carnegie Mellon University Engaging Interaction Using a Cognitve Model NRL-MU, Naval Research Laboratory,