01089nas a2200373 4500008004100000022001400041245007100055210006900126300000800195653001400203653001600217653001300233653002200246653002600268653001800294100001700312700001500329700001700344700001600361700001700377700001700394700001700411700001600428700001700444700001900461700001500480700001900495700002000514700001800534700001500552700001700567700002000584856011100604 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. uhttps://www.centropiaggio.unipi.it/publications/humanoids-work-walk-man-robot-postearthquake-scenario.html01163nas a2200457 4500008004100000245003100041210003000072260001300102300001400115490000800129100002300137700001700160700001700177700001300194700002000207700001600227700001600243700002000259700001600279700001700295700001600312700001900328700001500347700001400362700001500376700001700391700001700408700001900425700001500444700001600459700001600475700001500491700001900506700001900525700001400544700001100558700001700569700002000586700001500606856008400621 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. uhttps://www.centropiaggio.unipi.it/publications/walk-man-humanoid-platform.html01761nas a2200193 4500008003900000245009400039210006900133260004100202520113300243653001301376100001701389700002001406700001701426700001701443700002001460700002301480700001501503856004901518 2017 d00aDesign and characterization of a novel high-compliance spring for robots with soft joints0 aDesign and characterization of a novel highcompliance spring for aMunich, Germany, 3-7 July 2017bIEEE3 a
Low stiffness elements have a number of applications in Soft Robotics, from Series Elastic Actuators (SEA) to torque sensors for compliant systems. In its general formulation, the design problem of elastic components is complex and depends on several variables: material properties, load range, shape factor and size constraints. Consequently, most of the spring designs presented in literature are based on heuristics or are optimized for specific working conditions. This work presents the design study and characterization of a scalable spoked elastic element with hinge tip constraints. We compared the proposed design with three existing spring principles, showing that the spoked solution is the convenient option for low-stiffness and low shape factor elastic elements. Therefore, a design analysis on the main scaling parameters of the spoked spring, namely number of spokes and type of constraints, is presented. Finally, an experimental characterization has been conducted on physical prototypes. The agreement among simulations and experimental results demonstrates the effectiveness of the proposed concept.
10aRobotics1 aNegrello, F.1 aCatalano, M. G.1 aGarabini, M.1 aPoggiani, M.1 aCaldwell, D. G.1 aTsagarakis, N., G.1 aBicchi, A. uhttp://ieeexplore.ieee.org/document/8014029/03800nas 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 aIn 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/epdf00597nas a2200181 4500008003900000245009300039210006900132260000900201653001300210100001700223700001700240700002000257700001600277700002000293700001500313700002300328856006400351 2016 d00aA Modular Compliant Actuator for Emerging High Performance and Fall-Resilient Humanoids0 aModular Compliant Actuator for Emerging High Performance and Fal bIEEE10aRobotics1 aNegrello, F.1 aGarabini, M.1 aCatalano, M. G.1 aMalzahn, J.1 aCaldwell, D. G.1 aBicchi, A.1 aTsagarakis, N., G. uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=736356701944nas a2200217 4500008003900000245008800039210006900127260004600196300001600242520124600258653001301504100001701517700001701534700002001551700001601571700001301587700002001600700001501620700002301635856006801658 2016 d00a WALK-MAN humanoid lower body design optimization for enhanced physical performance0 aWALKMAN humanoid lower body design optimization for enhanced phy aStockholm, Sweden, May 16-21, 2016 bIEEE a1817 - 18243 a