%0 Conference Paper %B Robotic Grasping and Manipulation Challenge %D 2018 %T Advanced grasping with the Pisa/IIT softHand %A M. Bonilla %A C. Della Santina %A A. Rocchi %A E. Luberto %A G. Santaera %A E. Farnioli %A C. Piazza %A F. Bonomo %A A. Brando %A A. Raugi %A M. G. Catalano %A M. Bianchi %A M. Garabini %A G. Grioli %A A. Bicchi %B Robotic Grasping and Manipulation Challenge %P pp. 19-38 %0 Book Section %B The DARPA Robotics Challenge Finals: Humanoid Robots To The Rescue %D 2018 %T WALK-MAN Humanoid Platform %A N. G. Tsagarakis %A F. Negrello %A M. Garabini %A W. Choi %A L. Baccelliere %A V. G. Loc %A J. Noorden %A M. G. Catalano %A M. Ferrati %A L. Muratore %A P. Kryczka %A E. Mingo Hoffman %A A Settimi %A A. Rocchi %A A. Margan %A S. Cordasco %A D. Kanoulas %A A. Cardellino %A L. Natale %A H. Dallali %A J. Malzahn %A N. Kashiri %A V. Varricchio %A L. Pallottino %A C. Pavan %A J. Lee %A A. Ajoudani %A D. G. Caldwell %A A. Bicchi %B The DARPA Robotics Challenge Finals: Humanoid Robots To The Rescue %I Springer %V 121 %P 495–548 %G eng %R 10.1007/978-3-319-74666-1_13 %0 Journal Article %J Journal of Field Robotics %D 2017 %T WALK-MAN: A High-Performance Humanoid Platform for Realistic Environments %A N. G. Tsagarakis %A D. G. Caldwell %A F. Negrello %A W. Choi %A L. Baccelliere %A V. G. Loc %A J. Noorden %A L. Muratore %A A. Margan %A A. Cardellino %A L. Natale %A E. Mingo Hoffman %A H. Dallali %A N. Kashiri %A J. Malzahn %A J. Lee %A P. Kryczka %A D. Kanoulas %A M. Garabini %A M. G. Catalano %A M. Ferrati %A V. Varricchio %A L. Pallottino %A C. Pavan %A A. Bicchi %A A Settimi %A A. Rocchi %A A. Ajoudani %K Robotics %X

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.

%B Journal of Field Robotics %V 34 %P 1 - 34 %8 06/2017 %G eng %U http://onlinelibrary.wiley.com/doi/10.1002/rob.21702/epdf %N 4 %R 10.1002/rob.21702 %0 Conference Paper %B IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2014) %D 2014 %T Manipulation Framework for Compliant Humanoid COMAN: Application to a Valve Turning Task %A A. Ajoudani %A J. Lee %A A. Rocchi %A M. Ferrati %A E. Mingo Hoffman %A A Settimi %A D. G. Caldwell %A A. Bicchi %A N G Tsagarakis %K Haptics %K Robotics %X

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.

%B IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2014) %I IEEE %C Madrid, Spain, November 18 - 20 %P 664 - 670 %U http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7041434 %R 10.1109/HUMANOIDS.2014.7041434 %0 Conference Paper %B Modelling & Simulation for Autonomous Systems - MESAS2014 %D 2014 %T A modular approach for remote operation of humanoid robots in search and rescue scenarios %A A Settimi %A C. Pavan %A V. Varricchio %A M. Ferrati %A E. Mingo %A A. Rocchi %A K. Melo %A N G Tsagarakis %A A. Bicchi %K Robotics %B Modelling & Simulation for Autonomous Systems - MESAS2014 %C Rome, 5-6 May 2014 %0 Conference Paper %B IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2014) %D 2014 %T Upper-body Impedance Control with an Intuitive Stiffness Emulation for a Door Opening Task %A J. Lee %A A. Ajoudani %A E. Mingo Hoffman %A A. Rocchi %A A Settimi %A M. Ferrati %A A. Bicchi %A N G Tsagarakis %A D. G. Caldwell %K Robotics %X

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.

%B IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2014) %I IEEE %C Madrid, Spain, November 18 - 20 %P 713 - 719 %U http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7041441 %R 10.1109/HUMANOIDS.2014.7041441 %0 Conference Paper %B IEEE-RAS International Conference on Humanoid Robots %D 2012 %T Towards variable impedance assembly: the VSA peg-in-hole %A L. Balletti %A A. Rocchi %A F. A. W. Belo %A M. G. Catalano %A M. Garabini %A G. Grioli %A A. Bicchi %K Robotics %B IEEE-RAS International Conference on Humanoid Robots %C Osaka, Japan %G eng