29documents trouvés
Reverse control for humanoid robot task recognition
S.HAK, N.MANSARD, O.STASSE, J.P.LAUMOND
GEPETTO
Revue Scientifique : IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics, Vol.42, N°6, pp.1524-1537, Décembre 2012, DOI 10.1109/TSMCB.2012.2193614 , N° 12257
Lien : http://hal.archives-ouvertes.fr/hal-00697272
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Abstract
Efficient methods to perform motion recognition have been developed using statistical tools. Those methods rely on primitives learning in a suitable space, for example, the latent space of the joint-angle and/or adequate task spaces. Learned primitives are often sequential : a motion is segmented according to the time axis. When working with a humanoid robot, a motion can be decomposed into parallel sub-tasks. For example, in a waiter scenario, the robot has to keep some plates horizontal with one of its arms, while placing a plate on the table with its free hand. Recognition can thus not be limited to one task per consecutive segment of time. The method presented in this paper takes advantage of the knowledge of what tasks the robot is able to do and how the motion is generated from this set of known controllers, to perform a reverse engineering of an observed motion. This analysis is intended to recognize parallel tasks that have been used to generate a motion. The method relies on the task-function formalism and the projection operation into the null space of a task to decouple the controllers. The approach is successfully applied on a real robot to disambiguate motion in different scenarios where two motions look similar but have different purposes.
Intermediate desired value approach for task transition of robots in kinematic control
J.LEE, N.MANSARD, J.PARK
Séoul, GEPETTO
Revue Scientifique : IEEE Transactions on Robotics, Vol.28, N°6, pp.1260-1277, Décembre 2012 , N° 12779
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129079Walking on non-planar surfaces using an inverse dynamic stack of tasks
O.RAMOS PONCE, N.MANSARD, O.STASSE, P.SOUERES
GEPETTO
Manifestation avec acte : IEEE-RAS International Conference on Humanoid Robots ( HUMANOIDS ) 2012 du 29 novembre au 01 décembre 2012, Osaka (Japon), 2012, 7p. , N° 12654
Lien : http://hal.archives-ouvertes.fr/hal-00738243
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Abstract
This paper presents a method to handle walking on non-planar surfaces. The method obtains the trajectory of the center of mass and the next position of the foot from a pattern generator. Then, an inverse dynamics control scheme with a quadratic programming optimization solver is used to let the foot go from its initial to its final position, controlling also the center of mass and the waist. This solver is able to handle an arbitrary number of contact points. When the swinging foot is going down, collision points are detected and they are added as contact points to the model as soon as they appear. If there are three or more contact points, the foot can safely step, but if there are one or two contact points, the foot rotates properly to generate the largest support polygon. Using this heuristic, the foot can stand on non-planar surfaces. The results show the simulation of HRP-2 walking on a surface with obstacles.
Generation of human-like motion on anthropomorphic systems using inverse dynamics
L.SAAB, P.SOUERES, N.MANSARD, J.Y.FOURQUET
GEPETTO, ENIT Tarbes
Manifestation avec acte : Congrès Annuel de la Société de Bioméchanique 2012 du 16 octobre au 19 octobre 2012, Toulouse (France), 2012, 2p. , N° 12425
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This work deals with the generation of human-like whole-body movements on anthropomorphic systems. We propose a general framework to generate robot movements from the definition of ordered stack of tasks and a global resolution scheme that enables to consider different kinds of constraints. We compare qualitatively the robot movements generated from this software with similar recorded human movements. We start with a direct global comparison of body movements. Then we analyze the magnitude of the reconstructed human torques and compare with the simulated robot torques during the motion.
Whole-body torques for generating complex movements in humans and humanoids
L.SAAB, N.MANSARD, P.SOUERES, J.Y.FOURQUET, M.SREENIVASA, Y.NAKAMURA
GEPETTO, ENIT Tarbes, University of Tokyo
Manifestation avec acte : International IFAC Symposium on Robot Control (SYROCO'12), Dubrovnick (Croatie), 5-7 Septembre 2012, 6p. , N° 12424
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128121Generation of human-like motion on anthropomorphic systems using inverse dynamics
L.SAAB, P.SOUERES, N.MANSARD, J.Y.FOURQUET
GEPETTO, ENIT Tarbes
Revue Scientifique : Computer Methods in Biomechanics and Biomedical Engineering, Supplément 1, Vol.15, pp.156-158, Septembre 2012 , N° 12425
Lien : http://hal.archives-ouvertes.fr/hal-00764236
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Abstract
This work deals with the generation of human-like whole-body movements on anthropomorphic systems. We propose a general framework to generate robot movements from the definition of ordered stack of tasks and a global resolution scheme that enables to consider different kinds of constraints. We compare qualitatively the robot movements generated from this software with similar recorded human movements. We start with a direct global comparison of body movements. Then we analyze the magnitude of the reconstructed human torques and compare with the simulated robot torques during the motion.
Attitude estimation for humanoid robots using sensorial integration and Extended Kalman Filtering
P.PIERRO, N.MANSARD, P.SOUERES, C.A.MONJE, C.BALAGUER
UC3M, GEPETTO
Manifestation avec acte : IEEE Intelligent Vehicles Conference (IV'12). Workshop on Perception in Robotics, Madrid (Espagne), 3 Juin 2012, 6p. , N° 12404
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127787A dedicated solver for fast operational-space inverse dynamics
N.MANSARD
GEPETTO
Manifestation avec acte : IEEE International Conference on Robotics and Automation (ICRA 2012), St Paul (USA), 14-18 Mai 2012, pp.4943-4949 , N° 12283
Lien : http://hal.archives-ouvertes.fr/hal-00707200
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Abstract
The most classical solution to generate whole-body motions on humanoid robots is to use the inverse kinematics on a set of tasks. It enables flexibility, repeatability, sensorfeedback if needed, and can be applied in real time onboard the robot. However, it cannot comprehend the whole complexity of the robot dynamics. Inverse dynamics is then a mandatory evolution. Before application as a generic motion generator, two important concerns need to be solved. First, when including in the motion-generation problem the forces and torques variables, the numerical conditioning can become very low, inducing undesired behaviors or even divergence. Second, the computational costs of the problem resolution is much more important than when considering the kinematics alone. This paper proposes a complete reformulation of the inverse-dynamics problem, by cutting the ill-conditioned part of the problem, solving in a same way the problem of numerical stability and of cost reduction. The approach is validated by a set of dynamic whole-body movements of the HRP-2 robot.
Capture, recognition and imitation of anthropomorphic motion
S.HAK, N.MANSARD, O.RAMOS PONCE, L.SAAB, O.STASSE
GEPETTO
Manifestation avec acte : IEEE International Conference on Robotics and Automation (ICRA 2012), St Paul (USA), 14-18 Mai 2012, pp.3539-3540 , N° 12276
Lien : http://hal.archives-ouvertes.fr/hal-00706661
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Abstract
This work presents an overview of our current research works in generation, recognition and editing of anthropomorphic motion using a unified framework: the stack of tasks. It is based on the task function formalism classically used for motion generation. A task function maps the joint space of a robot to a dedicated space which is usually linked to the sensors of the robot: the task space. The task spaces are suitable to perform motion analysis and task recognition because the tasks are described in those spaces. The generation is originally based on inverse kinematics but can be generalized to produce full-dynamic motions. The tasks are defined by a tasks space, a reference behavior and a task Jacobian. The reference behaviors are originated from human trajectories. Specific tasks are then integrated to retarget and to edit the reference motion in order to respect the dynamic constraints, the limits of the robot and the general aspect.
Dynamic whole-body motion generation under rigid contacts and other unilateral constraints
L.SAAB, O.RAMOS PONCE, F.KEITH, N.MANSARD, P.SOUERES, J.Y.FOURQUET
GEPETTO, INRIA Rhône-Alpes, ENIT Tarbes
Rapport LAAS N°12014, Janvier 2012, 14p.
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