Whole Body Control For Multi Contact Balancing Of Humanoid Robots
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Whole Body Control For Multi Contact Balancing Of Humanoid Robots
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Author : Bernd Henze
language : en
Publisher: Springer Nature
Release Date : 2021-11-03
Whole Body Control For Multi Contact Balancing Of Humanoid Robots written by Bernd Henze and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-11-03 with Technology & Engineering categories.
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.
Wearable Robotics Challenges And Trends
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Author : Maria Chiara Carrozza
language : en
Publisher: Springer
Release Date : 2018-10-13
Wearable Robotics Challenges And Trends written by Maria Chiara Carrozza and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-10-13 with Technology & Engineering categories.
The book reports on advanced topics in the areas of wearable robotics research and practice. It focuses on new technologies, including neural interfaces, soft wearable robots, sensors and actuators technologies, and discusses important regulatory challenges, as well as clinical and ethical issues. Based on the 4th International Symposium on Wearable Robotics, WeRob2018, held October 16-20, 2018, in Pisa, Italy, the book addresses a large audience of academics and professionals working in government, industry, and medical centers, and end-users alike. It provides them with specialized information and with a source of inspiration for new ideas and collaborations. It discusses exemplary case studies highlighting practical challenges related to the implementation of wearable robots in a number of fields. One of the focus is on clinical applications, which was encouraged by the colocation of WeRob2018 with the International Conference on Neurorehabilitation, INCR2018. Additional topics include space applications and assistive technologies in the industry. The book merges together the engineering, medical, ethical and political perspectives, thus offering a multidisciplinary, timely snapshot of the field of wearable technologies.
Humanoid Robotics A Reference
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Author : Prahlad Vadakkepat
language : en
Publisher: Springer
Release Date : 2017-02-14
Humanoid Robotics A Reference written by Prahlad Vadakkepat and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-02-14 with Technology & Engineering categories.
Humanoid Robotics provides a comprehensive compilation of developments in the conceptualization, design and development of humanoid robots and related technologies. Human beings have built the environment they occupy (living spaces, instruments and vehicles) to suit two-legged systems. Building systems, especially in robotics, that are compatible with the well-established, human-based surroundings and which could naturally interact with humans is an ultimate goal for all researches and engineers. Humanoid Robots are systems (i.e. robots) which mimic human behavior. Humanoids provide a platform to study the construction of systems that behave and interact like humans. A broad range of applications ranging from daily housework to complex medical surgery, deep ocean exploration, and other potentially dangerous tasks are possible using humanoids. In addition, the study of humanoid robotics provides a platform to understand the mechanisms and offers a physical visual of how humans interact, think, and react with the surroundings and how such behaviors could be reassembled and reconstructed. Currently, the most challenging issue with bipedal humanoids is to make them balance on two legs, The purportedly simple act of finding the best balance that enables easy walking, jumping and running requires some of the most sophisticated development of robotic systems- those that will ultimately mimic fully the diversity and dexterity of human beings. Other typical human-like interactions such as complex thought and conversations on the other hand, also pose barriers for the development of humanoids because we are yet to understand fully the way in which we humans interact with our environment and consequently to replicate this in humanoids.
Humanoid Robots
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Author : Dragomir N. Nenchev
language : en
Publisher: Butterworth-Heinemann
Release Date : 2018-11-21
Humanoid Robots written by Dragomir N. Nenchev and has been published by Butterworth-Heinemann this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-11-21 with Technology & Engineering categories.
Humanoid Robots: Modeling and Control provides systematic presentation of the models used in the analysis, design and control of humanoid robots. The book starts with a historical overview of the field, a summary of the current state of the art achievements and an outline of the related fields of research. It moves on to explain the theoretical foundations in terms of kinematic, kineto-static and dynamic relations. Further on, a detailed overview of biped balance control approaches is presented. Models and control algorithms for cooperative object manipulation with a multi-finger hand, a dual-arm and a multi-robot system are also discussed. One of the chapters is devoted to selected topics from the area of motion generation and control and their applications. The final chapter focuses on simulation environments, specifically on the step-by-step design of a simulator using the Matlab® environment and tools. This book will benefit readers with an advanced level of understanding of robotics, mechanics and control such as graduate students, academic and industrial researchers and professional engineers. Researchers in the related fields of multi-legged robots, biomechanics, physical therapy and physics-based computer animation of articulated figures can also benefit from the models and computational algorithms presented in the book. Provides a firm theoretical basis for modelling and control algorithm design Gives a systematic presentation of models and control algorithms Contains numerous implementation examples demonstrated with 43 video clips
Introduction To Humanoid Robotics
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Author : Shuuji Kajita
language : en
Publisher: Springer
Release Date : 2014-07-15
Introduction To Humanoid Robotics written by Shuuji Kajita and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014-07-15 with Technology & Engineering categories.
This book is for researchers, engineers, and students who are willing to understand how humanoid robots move and be controlled. The book starts with an overview of the humanoid robotics research history and state of the art. Then it explains the required mathematics and physics such as kinematics of multi-body system, Zero-Moment Point (ZMP) and its relationship with body motion. Biped walking control is discussed in depth, since it is one of the main interests of humanoid robotics. Various topics of the whole body motion generation are also discussed. Finally multi-body dynamics is presented to simulate the complete dynamic behavior of a humanoid robot. Throughout the book, Matlab codes are shown to test the algorithms and to help the reader ́s understanding.
Walking Robots Into Real World
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Author : Karsten Berns
language : en
Publisher: Springer Nature
Release Date : 2025-01-01
Walking Robots Into Real World written by Karsten Berns and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2025-01-01 with Technology & Engineering categories.
The book is also a good source for courses in robotics and automation, control engineering, mechanical engineering, and mechatronics. CLAWAR 2024 is the 27th International Conference Series on Climbing and Walking Robots and Mobile Machine Support Technologies. The conference is organized by CLAWAR Association in collaboration with the RPTU Kaiserslautern-Landau and FZI Center for Information Technology, Germany, during September 4–6, 2024. CLAWAR 2024 provides the latest research and development findings and state-of-the-art insights into the mobile robotics and associated technologies in a diverse range of application scenarios, within the framework of “walking robots into real world.” The topics covered include AI-based systems and solutions, biologically inspired systems and solutions, human-like robots, innovative grippers, innovative robot design, planetary exploration, planning and control, prosthetics and rehabilitation, quadruped robots, and robotic applications. The intended readership includes participants of CLAWAR 2024 conference, worldwide researchers, scientists, and educators in the areas of robotics and related topics.
Whole Body Impedance Control Of Wheeled Humanoid Robots
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Author : Alexander Dietrich
language : en
Publisher: Springer
Release Date : 2016-07-02
Whole Body Impedance Control Of Wheeled Humanoid Robots written by Alexander Dietrich and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016-07-02 with Technology & Engineering categories.
Introducing mobile humanoid robots into human environments requires the systems to physically interact and execute multiple concurrent tasks. The monograph at hand presents a whole-body torque controller for dexterous and safe robotic manipulation. This control approach enables a mobile humanoid robot to simultaneously meet several control objectives with different pre-defined levels of priority, while providing the skills for compliant physical contacts with humans and the environment. After a general introduction into the topic of whole-body control, several essential reactive tasks are developed to extend the repertoire of robotic control objectives. Additionally, the classical Cartesian impedance is extended to the case of mobile robots. All of these tasks are then combined and integrated into an overall, priority-based control law. Besides the experimental validation of the approach, the formal proof of asymptotic stability for this hierarchical controller is presented. By interconnecting the whole-body controller with an artificial intelligence, the immense potential of the integrated approach for complex real-world applications is shown. Several typical household chores, such as autonomously wiping a window or sweeping the floor with a broom, are successfully performed on the mobile humanoid robot Rollin’ Justin of the German Aerospace Center (DLR). The results suggest the presented controller for a large variety of fields of application such as service robotics, human-robot cooperation in industry, telepresence in medical applications, space robotics scenarios, and the operation of mobile robots in dangerous and hazardous environments.
Advanced Motion Control And Navigation Of Robots In Extreme Environments
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Author : Allahyar Montazeri
language : en
Publisher: Frontiers Media SA
Release Date : 2024-11-20
Advanced Motion Control And Navigation Of Robots In Extreme Environments written by Allahyar Montazeri and has been published by Frontiers Media SA this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-11-20 with Technology & Engineering categories.
Advances in robotics and autonomous systems have opened new horizons for the scientists by creating new opportunities to explore extreme environments that would previously not have been possible. For example, robots that are deployed to study environmental processes such remote volcanos, monitor the climate variables under the adverse weather conditions, understand underground mines, and explore deep oceans which are all inaccessible or hazardous for the human. Industrial applications can also often be situated in extreme environments such as offshore oil and gas and nuclear industries. In such applications the autonomous robot is expected to complete tasks such as repair and maintenance, exploration, reconnaissance, inspection, and transportation which is either done in isolation or as a team of cooperative robots. Due to the harsh and severe conditions of such environments, designing an advanced robotic system that can endure them is a challenging task. The robot needs to cope with the time-varying, restricted, uncertain, and unstructured nature of the environment to achieve the planning and execution of the tasks. This in turn demands development of advanced, robust and adaptive motion control and navigation algorithms along with machine learning and deep learning algorithms with high cognitive capability for the robot to perceive the surrounding environment effectively. The use of both single and multi-robot platforms can be advantageous depending on the specific application and environment.
Motion Planning For Humanoid Robots
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Author : Kensuke Harada
language : en
Publisher: Springer Science & Business Media
Release Date : 2010-08-12
Motion Planning For Humanoid Robots written by Kensuke Harada and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010-08-12 with Technology & Engineering categories.
Research on humanoid robots has been mostly with the aim of developing robots that can replace humans in the performance of certain tasks. Motion planning for these robots can be quite difficult, due to their complex kinematics, dynamics and environment. It is consequently one of the key research topics in humanoid robotics research and the last few years have witnessed considerable progress in the field. Motion Planning for Humanoid Robots surveys the remarkable recent advancement in both the theoretical and the practical aspects of humanoid motion planning. Various motion planning frameworks are presented in Motion Planning for Humanoid Robots, including one for skill coordination and learning, and one for manipulating and grasping tasks. The problem of planning sequences of contacts that support acyclic motion in a highly constrained environment is addressed and a motion planner that enables a humanoid robot to push an object to a desired location on a cluttered table is described. The main areas of interest include: • whole body motion planning, • task planning, • biped gait planning, and • sensor feedback for motion planning. Torque-level control of multi-contact behavior, autonomous manipulation of moving obstacles, and movement control and planning architecture are also covered. Motion Planning for Humanoid Robots will help readers to understand the current research on humanoid motion planning. It is written for industrial engineers, advanced undergraduate and postgraduate students.
Springer Handbook Of Robotics
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Author : Bruno Siciliano
language : en
Publisher: Springer
Release Date : 2016-07-27
Springer Handbook Of Robotics written by Bruno Siciliano and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016-07-27 with Technology & Engineering categories.
The second edition of this handbook provides a state-of-the-art overview on the various aspects in the rapidly developing field of robotics. Reaching for the human frontier, robotics is vigorously engaged in the growing challenges of new emerging domains. Interacting, exploring, and working with humans, the new generation of robots will increasingly touch people and their lives. The credible prospect of practical robots among humans is the result of the scientific endeavour of a half a century of robotic developments that established robotics as a modern scientific discipline. The ongoing vibrant expansion and strong growth of the field during the last decade has fueled this second edition of the Springer Handbook of Robotics. The first edition of the handbook soon became a landmark in robotics publishing and won the American Association of Publishers PROSE Award for Excellence in Physical Sciences & Mathematics as well as the organization’s Award for Engineering & Technology. The second edition of the handbook, edited by two internationally renowned scientists with the support of an outstanding team of seven part editors and more than 200 authors, continues to be an authoritative reference for robotics researchers, newcomers to the field, and scholars from related disciplines. The contents have been restructured to achieve four main objectives: the enlargement of foundational topics for robotics, the enlightenment of design of various types of robotic systems, the extension of the treatment on robots moving in the environment, and the enrichment of advanced robotics applications. Further to an extensive update, fifteen new chapters have been introduced on emerging topics, and a new generation of authors have joined the handbook’s team. A novel addition to the second edition is a comprehensive collection of multimedia references to more than 700 videos, which bring valuable insight into the contents. The videos can be viewed directly augmented into the text with a smartphone or tablet using a unique and specially designed app. Springer Handbook of Robotics Multimedia Extension Portal: http://handbookofrobotics.org/