TY - CONF T1 - Advanced grasping with the Pisa/IIT softHand T2 - Robotic Grasping and Manipulation Challenge Y1 - 2018 A1 - M. Bonilla A1 - C. Della Santina A1 - A. Rocchi A1 - E. Luberto A1 - G. Santaera A1 - E. Farnioli A1 - C. Piazza A1 - F. Bonomo A1 - A. Brando A1 - A. Raugi A1 - M. G. Catalano A1 - M. Bianchi A1 - M. Garabini A1 - G. Grioli A1 - A. Bicchi JF - Robotic Grasping and Manipulation Challenge ER - TY - CHAP T1 - WALK-MAN Humanoid Platform T2 - The DARPA Robotics Challenge Finals: Humanoid Robots To The Rescue Y1 - 2018 A1 - N. G. Tsagarakis A1 - F. Negrello A1 - M. Garabini A1 - W. Choi A1 - L. Baccelliere A1 - V. G. Loc A1 - J. Noorden A1 - M. G. Catalano A1 - M. Ferrati A1 - L. Muratore A1 - P. Kryczka A1 - E. Mingo Hoffman A1 - A Settimi A1 - A. Rocchi A1 - A. Margan A1 - S. Cordasco A1 - D. Kanoulas A1 - A. Cardellino A1 - L. Natale A1 - H. Dallali A1 - J. Malzahn A1 - N. Kashiri A1 - V. Varricchio A1 - L. Pallottino A1 - C. Pavan A1 - J. Lee A1 - A. Ajoudani A1 - D. G. Caldwell A1 - A. Bicchi JF - The DARPA Robotics Challenge Finals: Humanoid Robots To The Rescue PB - Springer VL - 121 ER - TY - JOUR T1 - WALK-MAN: A High-Performance Humanoid Platform for Realistic Environments JF - Journal of Field Robotics Y1 - 2017 A1 - N. G. Tsagarakis A1 - D. G. Caldwell A1 - F. Negrello A1 - W. Choi A1 - L. Baccelliere A1 - V. G. Loc A1 - J. Noorden A1 - L. Muratore A1 - A. Margan A1 - A. Cardellino A1 - L. Natale A1 - E. Mingo Hoffman A1 - H. Dallali A1 - N. Kashiri A1 - J. Malzahn A1 - J. Lee A1 - P. Kryczka A1 - D. Kanoulas A1 - M. Garabini A1 - M. G. Catalano A1 - M. Ferrati A1 - V. Varricchio A1 - L. Pallottino A1 - C. Pavan A1 - A. Bicchi A1 - A Settimi A1 - A. Rocchi A1 - A. Ajoudani KW - Robotics AB -

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.

VL - 34 UR - http://onlinelibrary.wiley.com/doi/10.1002/rob.21702/epdf IS - 4 ER - TY - CONF T1 - Manipulation Framework for Compliant Humanoid COMAN: Application to a Valve Turning Task T2 - IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2014) Y1 - 2014 A1 - A. Ajoudani A1 - J. Lee A1 - A. Rocchi A1 - M. Ferrati A1 - E. Mingo Hoffman A1 - A Settimi A1 - D. G. Caldwell A1 - A. Bicchi A1 - N G Tsagarakis KW - Haptics KW - Robotics AB -

With 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.

JF - IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2014) PB - IEEE CY - Madrid, Spain, November 18 - 20 UR - http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7041434 ER - TY - CONF T1 - A modular approach for remote operation of humanoid robots in search and rescue scenarios T2 - Modelling & Simulation for Autonomous Systems - MESAS2014 Y1 - 2014 A1 - A Settimi A1 - C. Pavan A1 - V. Varricchio A1 - M. Ferrati A1 - E. Mingo A1 - A. Rocchi A1 - K. Melo A1 - N G Tsagarakis A1 - A. Bicchi KW - Robotics JF - Modelling & Simulation for Autonomous Systems - MESAS2014 CY - Rome, 5-6 May 2014 ER - TY - CONF T1 - Upper-body Impedance Control with an Intuitive Stiffness Emulation for a Door Opening Task T2 - IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2014) Y1 - 2014 A1 - J. Lee A1 - A. Ajoudani A1 - E. Mingo Hoffman A1 - A. Rocchi A1 - A Settimi A1 - M. Ferrati A1 - A. Bicchi A1 - N G Tsagarakis A1 - D. G. Caldwell KW - Robotics AB -

The 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.

JF - IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2014) PB - IEEE CY - Madrid, Spain, November 18 - 20 UR - http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7041441 ER - TY - CONF T1 - Towards variable impedance assembly: the VSA peg-in-hole T2 - IEEE-RAS International Conference on Humanoid Robots Y1 - 2012 A1 - L. Balletti A1 - A. Rocchi A1 - F. A. W. Belo A1 - M. G. Catalano A1 - M. Garabini A1 - G. Grioli A1 - A. Bicchi KW - Robotics JF - IEEE-RAS International Conference on Humanoid Robots CY - Osaka, Japan ER -