01088nas a2200373 4500008004100000022001400041245007100055210006900126300000800195653001400203653001600217653001300233653002200246653002600268653001800294100001700312700001500329700001700344700001600361700001700377700001700394700001700411700001600428700001700444700001900461700001500480700001900495700002000514700001800534700001500552700001700567700002000584856011000604 2018 eng d a1070-993200aHumanoids at Work: The WALK-MAN Robot in a Postearthquake Scenario0 aHumanoids at Work The WALKMAN Robot in a Postearthquake Scenario a1-110aBuildings10aEarthquakes10aHardware10aLegged locomotion10aRobot sensing systems10aTask analysis1 aNegrello, F.1 aSettimi, A1 aCaporale, D.1 aLentini, G.1 aPoggiani, M.1 aKanoulas, D.1 aMuratore, L.1 aLuberto, E.1 aSantaera, G.1 aCiarleglio, L.1 aErmini, L.1 aPallottino, L.1 aCaldwell, D. G.1 aTsagarakis, N1 aBicchi, A.1 aGarabini, M.1 aCatalano, M. G. uhttp://www.centropiaggio.unipi.it/publications/humanoids-work-walk-man-robot-postearthquake-scenario.html01162nas 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/epdf01869nas a2200181 4500008004100000245004500041210004000086260001200126520140500138653001301543100001601556700001501572700001701587700002301604700001501627700001901642856002601661 2016 eng d00aThe Walk-Man Robot Software Architecture0 aWalkMan Robot Software Architecture c05/20163 aA software and control architecture for a humanoid robot is a complex and large project, which involves a team of developers/researchers to be coordinated and requires many hard design choices. If such project has to be done in a very limited time, i.e., less than 1 year, more constraints are added and concepts, such as modular design, code reusability, and API definition, need to be used as much as possible. In this work, we describe the software architecture developed for Walk-Man, a robot participant at the Darpa Robotics Challenge. The challenge required the robot to execute many different tasks, such as walking, driving a car, and manipulating objects. These tasks need to be solved by robotics specialists in their corresponding research field, such as humanoid walking, motion planning, or object manipulation. The proposed architecture was developed in 10 months, provided boilerplate code for most of the functionalities required to control a humanoid robot and allowed robotics researchers to produce their control modules for DRC tasks in a short time. Additional capabilities of the architecture include firmware and hardware management, mixing of different middlewares, unreliable network management, and operator control station GUI. All the source code related to the architecture and some control modules have been released as open source projects.
10aRobotics1 aFerrati, M.1 aSettimi, A1 aMuratore, L.1 aTsagarakis, N., G.1 aNatale, L.1 aPallottino, L. uhttp://bit.ly/2jAPke2