01162nas a2200457 4500008004100000245003100041210003000072260001300102300001400115490000800129100002300137700001700160700001700177700001300194700002000207700001600227700001600243700002000259700001600279700001700295700001600312700001900328700001500347700001400362700001500376700001700391700001700408700001900425700001500444700001600459700001600475700001500491700001900506700001900525700001400544700001100558700001700569700002000586700001500606856008300621 2018 eng d00aWALK-MAN Humanoid Platform0 aWALKMAN Humanoid Platform bSpringer a495–5480 v1211 aTsagarakis, N., G.1 aNegrello, F.1 aGarabini, M.1 aChoi, W.1 aBaccelliere, L.1 aLoc, V., G.1 aNoorden, J.1 aCatalano, M. G.1 aFerrati, M.1 aMuratore, L.1 aKryczka, P.1 aHoffman, Mingo1 aSettimi, A1 aRocchi, A1 aMargan, A.1 aCordasco, S.1 aKanoulas, D.1 aCardellino, A.1 aNatale, L.1 aDallali, H.1 aMalzahn, J.1 aKashiri, N1 aVarricchio, V.1 aPallottino, L.1 aPavan, C.1 aLee, J1 aAjoudani, A.1 aCaldwell, D. G.1 aBicchi, A. uhttp://www.centropiaggio.unipi.it/publications/walk-man-humanoid-platform.html03800nas a2200481 4500008004100000022001400041245007800055210006900133260001200202300001100214490000700225520254400232653001302776100002302789700002002812700001702832700001302849700002002862700001602882700001602898700001702914700001502931700001902946700001502965700001902980700001602999700001503015700001603030700001103046700001603057700001703073700001703090700002003107700001603127700001903143700001903162700001403181700001503195700001503210700001403225700001703239856006203256 2017 eng d a1556-496700aWALK-MAN: A High-Performance Humanoid Platform for Realistic Environments0 aWALKMAN A HighPerformance Humanoid Platform for Realistic Enviro c06/2017 a1 - 340 v343 a
In this work, we present WALK-MAN, a humanoid platform that has been developed to operate in realistic unstructured environment, and demonstrate new skills including powerful manipulation, robust balanced locomotion, high-strength capabilities, and physical sturdiness. To enable these capabilities, WALK-MAN design and actuation are based on the most recent advancements of series elastic actuator drives with unique performance features that differentiate the robot from previous state-of-the-art compliant actuated robots. Physical interaction performance is benefited by both active and passive adaptation, thanks to WALK-MAN actuation that combines customized high-performance modules with tuned torque/velocity curves and transmission elasticity for high-speed adaptation response and motion reactions to disturbances. WALK-MAN design also includes innovative design optimization features that consider the selection of kinematic structure and the placement of the actuators with the body structure to maximize the robot performance. Physical robustness is ensured with the integration of elastic transmission, proprioceptive sensing, and control. The WALK-MAN hardware was designed and built in 11 months, and the prototype of the robot was ready four months before DARPA Robotics Challenge (DRC) Finals. The motion generation of WALK-MAN is based on the unified motion-generation framework of whole-body locomotion and manipulation (termed loco-manipulation). WALK-MAN is able to execute simple loco-manipulation behaviors synthesized by combining different primitives defining the behavior of the center of gravity, the motion of the hands, legs, and head, the body attitude and posture, and the constrained body parts such as joint limits and contacts. The motion-generation framework including the specific motion modules and software architecture is discussed in detail. A rich perception system allows the robot to perceive and generate 3D representations of the environment as well as detect contacts and sense physical interaction force and moments. The operator station that pilots use to control the robot provides a rich pilot interface with different control modes and a number of teleoperated or semiautonomous command features. The capability of the robot and the performance of the individual motion control and perception modules were validated during the DRC in which the robot was able to demonstrate exceptional physical resilience and execute some of the tasks during the competition.
10aRobotics1 aTsagarakis, N., G.1 aCaldwell, D. G.1 aNegrello, F.1 aChoi, W.1 aBaccelliere, L.1 aLoc, V., G.1 aNoorden, J.1 aMuratore, L.1 aMargan, A.1 aCardellino, A.1 aNatale, L.1 aHoffman, Mingo1 aDallali, H.1 aKashiri, N1 aMalzahn, J.1 aLee, J1 aKryczka, P.1 aKanoulas, D.1 aGarabini, M.1 aCatalano, M. G.1 aFerrati, M.1 aVarricchio, V.1 aPallottino, L.1 aPavan, C.1 aBicchi, A.1 aSettimi, A1 aRocchi, A1 aAjoudani, A. uhttp://onlinelibrary.wiley.com/doi/10.1002/rob.21702/epdf02577nas a2200241 4500008003900000245009300039210006900132260004200201300001400243520183800257653001202095653001302107100001702120700001102137700001402148700001602162700001902178700001502197700002002212700001502232700002002247856006802267 2014 d00aManipulation Framework for Compliant Humanoid COMAN: Application to a Valve Turning Task0 aManipulation Framework for Compliant Humanoid COMAN Application aMadrid, Spain, November 18 - 20bIEEE a664 - 6703 aWith the purpose of achieving a desired interaction performance for our compliant humanoid robot (COMAN), in this paper we propose a semi-autonomous control framework and evaluate it experimentally in a valve turning setup. The control structure consists of various modules and interfaces to identify the valve, locate the robot in front of it and perform the manipulation. The manipulation module implements four motion primitives (Reach, Grasp, Rotate and Disengage) and realizes the corresponding desired impedance profile for each phase to accomplish the task. In this direction, to establish a stable and compliant contact between the valve and the robot hands, while being able to generate the sufficient rotational torques depending on the valve's friction, Rotate incorporates a novel dual-arm impedance control technique to plan and realize a task-appropriate impedance profile. Results of the implementation of the proposed control framework are firstly evaluated in simulation studies using Gazebo. Subsequent experimental results highlight the efficiency of the proposed impedance planning and control in generation of the required interaction forces to accomplish the task.
10aHaptics10aRobotics1 aAjoudani, A.1 aLee, J1 aRocchi, A1 aFerrati, M.1 aHoffman, Mingo1 aSettimi, A1 aCaldwell, D. G.1 aBicchi, A.1 aTsagarakis, N G uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=704143402368nas a2200229 4500008003900000245009500039210006900134260004200203300001400245520165100259653001301910100001101923700001701934700001901951700001401970700001501984700001601999700001502015700002002030700002002050856006802070 2014 d00aUpper-body Impedance Control with an Intuitive Stiffness Emulation for a Door Opening Task0 aUpperbody Impedance Control with an Intuitive Stiffness Emulatio aMadrid, Spain, November 18 - 20bIEEE a713 - 7193 aThe advent of humanoids has brought new challenges in the real-world application. As a part of ongoing efforts to foster functionality of the robot accommodating a real environment, this paper introduces a recent progress on a door opening task with our compliant humanoid, CoMan. We presents a task-prioritized impedance control framework for an upper body system that includes a dual-arm, a waist, two soft hands, and 3D camera. Aimed to create desired responses to open the door, a novel stiffness modulation method is proposed, incorporating a realtime optimization. As a preliminary experiment, a full door-opening scenario (approaching to the door and reaching, grasping, rotating and pulling the door handle) is demonstrated under a semi-autonomous operation with a pilot. The experimental result shows the effectiveness and efficacy of the proposed impedance control approach. Despite of uncertainties from sensory data, the door opening task is successfully achieved and safe and robust interaction is established without creating excessive forces.
10aRobotics1 aLee, J1 aAjoudani, A.1 aHoffman, Mingo1 aRocchi, A1 aSettimi, A1 aFerrati, M.1 aBicchi, A.1 aTsagarakis, N G1 aCaldwell, D. G. uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7041441