Human Inspired Balancing And Recovery Stepping For Humanoid Robots
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Human Inspired Balancing And Recovery Stepping For Humanoid Robots
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Author : Kaul, Lukas Sebastian
language : en
Publisher: KIT Scientific Publishing
Release Date : 2019-05-15
Human Inspired Balancing And Recovery Stepping For Humanoid Robots written by Kaul, Lukas Sebastian and has been published by KIT Scientific Publishing this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-05-15 with Computers categories.
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.
Human Inspired Balancing And Recovery Stepping For Humanoid Robots
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Author : Lukas Sebastian Kaul
language : en
Publisher:
Release Date : 2020-10-09
Human Inspired Balancing And Recovery Stepping For Humanoid Robots written by Lukas Sebastian Kaul and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-10-09 with Technology & Engineering categories.
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.
Push Recovery And Active Balancing For Inexpensive Humanoid Robots
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Author : Amirhossein Hosseinmemar
language : en
Publisher:
Release Date : 2019
Push Recovery And Active Balancing For Inexpensive Humanoid Robots written by Amirhossein Hosseinmemar and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019 with categories.
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.
Active Vision For Scene Understanding
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Author : Grotz, Markus
language : en
Publisher: KIT Scientific Publishing
Release Date : 2021-12-21
Active Vision For Scene Understanding written by Grotz, Markus and has been published by KIT Scientific Publishing this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-12-21 with Computers categories.
Visual perception is one of the most important sources of information for both humans and robots. A particular challenge is the acquisition and interpretation of complex unstructured scenes. This work contributes to active vision for humanoid robots. A semantic model of the scene is created, which is extended by successively changing the robot's view in order to explore interaction possibilities of the scene.
Advances In Human Factors In Robots And Unmanned Systems
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Author : Jessie Chen
language : en
Publisher: Springer
Release Date : 2018-06-23
Advances In Human Factors In Robots And Unmanned Systems written by Jessie Chen and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-06-23 with Technology & Engineering categories.
This book focuses on the importance of human factors in the development of safe and reliable unmanned systems. It discusses current challenges such as how to improve the perceptual and cognitive abilities of robots, develop suitable synthetic vision systems, cope with degraded reliability in unmanned systems, predict robotic behavior in case of a loss of communication, the vision for future soldier–robot teams, human–agent teaming, real-world implications for human–robot interaction, and approaches to standardize both the display and control of technologies across unmanned systems. Based on the AHFE 2018 International Conference on Human Factors in Robots and Unmanned Systems, held on July 21–25, 2018, in Orlando, Florida, USA, this book fosters new discussions and stimulates new advances in the development of more reliable, safer, and highly functional devices for carrying out automated and concurrent tasks.
Control Of Cyber Physical Systems
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Author : Danielle C. Tarraf
language : en
Publisher: Springer
Release Date : 2013-06-30
Control Of Cyber Physical Systems written by Danielle C. Tarraf and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-06-30 with Technology & Engineering categories.
Cyber-physical systems (CPS) involve deeply integrated, tightly coupled computational and physical components. These systems, spanning multiple scientific and technological domains, are highly complex and pose several fundamental challenges. They are also critically important to society’s advancement and security. The design and deployment of the adaptable, reliable CPS of tomorrow requires the development of a basic science foundation, synergistically drawing on various branches of engineering, mathematics, computer science, and domain specific knowledge. This book brings together 19 invited papers presented at the Workshop on Control of Cyber-Physical Systems, hosted by the Department of Electrical & Computer Engineering at The Johns Hopkins University in March 2013. It highlights the central role of control theory and systems thinking in developing the theory of CPS, in addressing the challenges of cyber-trust and cyber-security, and in advancing emerging cyber-physical applications ranging from smart grids to smart buildings, cars and robotic systems.
Pursh Recovery For Humanoid Robots Using Linearized Double Inverted Pendulum
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Author : Saurav Singh
language : en
Publisher:
Release Date : 2020
Pursh Recovery For Humanoid Robots Using Linearized Double Inverted Pendulum written by Saurav Singh and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020 with Robots categories.
"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.
Adaptive Control For Robotic Manipulators
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Author : Dan Zhang
language : en
Publisher: CRC Press
Release Date : 2017-02-03
Adaptive Control For Robotic Manipulators written by Dan Zhang and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-02-03 with Science categories.
The robotic mechanism and its controller make a complete system. As the robotic mechanism is reconfigured, the control system has to be adapted accordingly. The need for the reconfiguration usually arises from the changing functional requirements. This book will focus on the adaptive control of robotic manipulators to address the changed conditions. The aim of the book is to summarise and introduce the state-of-the-art technologies in the field of adaptive control of robotic manipulators in order to improve the methodologies on the adaptive control of robotic manipulators. Advances made in the past decades are described in the book, including adaptive control theories and design, and application of adaptive control to robotic manipulators.
An Overview On Balancing And Stabilization Control Of Biped Robots
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Author : Hayder Al-Shuka
language : en
Publisher: Grin Publishing
Release Date : 2017-10-19
An Overview On Balancing And Stabilization Control Of Biped Robots written by Hayder Al-Shuka and has been published by Grin Publishing this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-10-19 with categories.
Academic Paper from the year 2017 in the subject Engineering - Robotics, language: English, abstract: Researchers dream of developing autonomous humanoid robots which behave/walk like a human being. Biped robots, although complex, have the greatest potential for use in human-centered environments such as the home or office. Studying biped robots is also important for understanding human locomotion and improving control strategies for prosthetic and orthotic limbs. Control systems of humans walking in cluttered environments are complex, however, and may involve multiple local controllers and commands from the cerebellum. Although biped robots have been of interest over the last four decades, no unified stability/balance criterion adopted for stabilization of miscellaneous walking/running modes of biped robots has so far been available. The literature is scattered and it is difficult to construct a unified background for the balance strategies of biped motion. The zero-moment point (ZMP) criterion, however, is a conservative indicator of stabilized motion for a class of biped robots. Therefore, we offer a systematic presentation of multi-level balance controllers for stabilization and balance recovery of ZMP-based humanoid robots.
Robotics In Natural Settings
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Author : José M. Cascalho
language : en
Publisher: Springer Nature
Release Date : 2022-08-24
Robotics In Natural Settings written by José M. Cascalho and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-08-24 with Technology & Engineering categories.
This book includes recent research on climbing and walking robots. CLAWAR 2022 is the twenty-fifth International Conference Series on Climbing and Walking Robots and Mobile Machine Support Technologies. The conference is organized by CLAWAR Association in collaboration with the University of the Azores, S. Miguel, Portugal, during September 12-14, 2022. CLAWAR 2022 provides an updated state of the art on robotics and its use in a diversity of applications and/or simulation scenarios, within the framework “Robotics in Natural Settings”. The topics covered include Bio-Inspired Robotics, Biped Locomotion, Educational Robotics, Human-Machine/Human-Robot Interaction, Innovative Actuators, Inspection, Legged Locomotion, Modeling and Simulation of CLAWAR, Outdoor and Field Robotics, Planning and Control, Wearable Devices and Assistive Robotics, and the Use of A.I. in Robotics. The intended readership includes participants of CLAWAR 2022 conference, international robotic researchers, scientists, and professors of related topics worldwide, and professors and students of postgraduate courses in Robotics and Automation, Control Engineering, Mechanical Engineering, and Mechatronics.