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22
Statistical dynamical systems for skills acquisition
- in humanoids,” in Intl. Conf. on Humanoid Robots, 2012
"... Abstract—Learning by imitation in humanoids is challenging due to the unpredictable environments these robots have to face during reproduction. Two sets of tools are relevant for this purpose: 1) probabilistic machine learning methods that can extract and exploit the regularities and important featu ..."
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Abstract—Learning by imitation in humanoids is challenging due to the unpredictable environments these robots have to face during reproduction. Two sets of tools are relevant for this purpose: 1) probabilistic machine learning methods that can extract and exploit the regularities and important features of the task; and 2) dynamical systems that can cope with perturbation in real-time without having to replan the whole movement. We present a learning by imitation approach combining the two benefits. It is based on a superposition of virtual spring-damper systems to drive a humanoid robot’s movement. The method relies on a statistical description of the springs attractor points acting in different candidate frames of reference. It extends dynamic movement primitives models by formulating the dynamical systems parameters estimation problem as a Gaussian mixture regression problem with projection in different coordinate systems. The robot exploits local variability information extracted from multiple demonstrations of movements to determine which frames are relevant for the task, and how the movement should be modulated with respect to these frames. The approach is tested on the new prototype of the COMAN compliant humanoid with time-based and timeinvariant movements, including bimanual coordination skills. I.
Experiments of Formation Control With Multirobot Systems Using the Null-Space-Based Behavioral Control
- IEEE Transactions on Control Systems Technology
, 2009
"... Abstract—In this paper, the experimental validation of a be-havior-based technique for multirobot systems (MRSs), namely, the Null-Space-based Behavioral (NSB) control, is presented. The NSB strategy, inherited from the singularity-robust task-priority inverse kinematics for industrial manipulators, ..."
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Abstract—In this paper, the experimental validation of a be-havior-based technique for multirobot systems (MRSs), namely, the Null-Space-based Behavioral (NSB) control, is presented. The NSB strategy, inherited from the singularity-robust task-priority inverse kinematics for industrial manipulators, has been recently proposed for the execution of different formation-control missions with MRSs. In this paper, focusing on the experimental details, the validation of the approach is achieved by performing dif-ferent experimental missions, in presence of static and dynamic obstacles, with a team of grounded mobile robots available at the Laboratorio di Automazione Industriale of the Università degli Studi di Cassino. Index Terms—Formation control, mobile robots, multirobot sys-tems (MRSs). I.
Stability analysis for the Null-Space-based Behavioral control for multi-robot systems
- In 47th IEEE Conference on Decision and Control and 8th European Control Conference, Cancun, MEX
, 2008
"... Abstract — A wide number of mobile multi-robot systems makes use of behavior-based approaches to accomplish their missions. However, despite the advantages in term of flexibility and versatility, the behavior-based approaches often lack of a rigorous stability analysis; when the latter is present it ..."
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Cited by 5 (4 self)
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Abstract — A wide number of mobile multi-robot systems makes use of behavior-based approaches to accomplish their missions. However, despite the advantages in term of flexibility and versatility, the behavior-based approaches often lack of a rigorous stability analysis; when the latter is present it is only valid for specific missions. A behavior based-approach for the control of different robotic systems, namely the Null-Space-based Behavioral control, has been recently proposed. In this paper, its general stability analysis is discussed following a Lyapunov-based approach; moreover, effective conditions are given to verify that the behaviors of specific missions are properly defined and merged. Finally, the stability of several missions for multi-robot systems is discussed. I.
Flocking for multi-robot systems via the Null-space-based Behavioral control
- Swarm Intelligence
"... Abstract — In this paper the flocking problem for a multi-robot system, consisting in making the robots of a team group-ing together, is addressed. The flocking is achieved resorting to the Null-Space-based Behavioral (NSB) control by defining very simple behaviors for each robot of the team and by ..."
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Abstract — In this paper the flocking problem for a multi-robot system, consisting in making the robots of a team group-ing together, is addressed. The flocking is achieved resorting to the Null-Space-based Behavioral (NSB) control by defining very simple behaviors for each robot of the team and by properly arranging these behaviors in priority. The NSB algorithm, making the robots using only local information, successfully achieves the flocking with or without a rendez-vous point and in eventual presence of obstacles. Extensive simulations and experiments using differential-drive mobile robots prove the effectiveness of the proposed algorithm. I.
Robotic execution of everyday tasks by means of external vision/force control
- Intell. Serv. Robot
, 2009
"... Abstract In this article, we present an integrated ma-nipulation framework for a service robot, that allows to interact with articulated objects at home environments through the coupling of vision and force modalities. We consider a robot which is observing simultaneously his hand and the object to ..."
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Abstract In this article, we present an integrated ma-nipulation framework for a service robot, that allows to interact with articulated objects at home environments through the coupling of vision and force modalities. We consider a robot which is observing simultaneously his hand and the object to manipulate, by using an external camera (i.e. robot head). Task-oriented grasping algo-rithms [1] are used in order to plan a suitable grasp on the object according to the task to perform. A new vi-sion/force coupling approach [2], based on external con-trol, is used in order to, first, guide the robot hand to-wards the grasp position and, second, perform the task taking into account external forces. The coupling be-tween these two complementary sensor modalities pro-vides the robot with robustness against uncertainties in models and positioning. A position-based visual servoing control law has been designed in order to continuously align the robot hand with respect to the object that is be-ing manipulated, independently of camera position. This allows to freely move the camera while the task is being executed and makes this approach amenable to be in-tegrated in current humanoid robots without the need of hand-eye calibration. Experimental results on a real robot interacting with different kind of doors are pre-sented.
Experiments on wholebody manipulation and locomotion with footstep real-time optimization
- in ‘IEEE International Conference on Humanoid Robots (Humanoids)’, Osaka
, 2012
"... Abstract — This paper focuses on the experiments on the HRP-2 humanoid robot using a framework of manipulation and locomotion with real-time footstep adaptation. Two classes of experiments are presented. On the one hand, a grasping task at various height level illustrates a whole-body task in combin ..."
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Abstract — This paper focuses on the experiments on the HRP-2 humanoid robot using a framework of manipulation and locomotion with real-time footstep adaptation. Two classes of experiments are presented. On the one hand, a grasping task at various height level illustrates a whole-body task in combination with locomotion. On the other, stepping over obstacle experiments illustrate the particularity of humanoid robots. In all presented examples, footsteps are considered as a part of the robot’s kinematic chain and are resolved as an optimization problem along with other degrees of freedom of the robot. The environment is perceived by the stereo vision system mounted on the robot which closes the loop with the control through an online footstep adaptation scheme.
Kinematic Control with Force Feedback for a Redundant Bimanual Manipulation System
"... Abstract — In this paper, a kinematic model for motion coordination and control of a redundant robotic dual-arm/hand system is derived, which allows to compute the object pose from the joint variables of each arm and each finger as well as from a suitable set of contact variables. This model is used ..."
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Abstract — In this paper, a kinematic model for motion coordination and control of a redundant robotic dual-arm/hand system is derived, which allows to compute the object pose from the joint variables of each arm and each finger as well as from a suitable set of contact variables. This model is used to design a two-stage control scheme to achieve a desired object motion and maintain desired normal contact forces applied to the object. Several secondary tasks are accomplished through a prioritized task sequencing management of the whole system redundancy. A simulation case study is presented to demonstrate the effectiveness of the proposed approach. I.
Whole-body Motion in Humans and Humanoids
, 2014
"... Traditional industrial applications involve robots with limited mobility. Consequently, interaction (e.g. manipulation) was treated separately from whole-body posture (e.g. balancing), assuming the robot firmly connected to the ground. Foreseen applications involve robots with augmented autonomy and ..."
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Traditional industrial applications involve robots with limited mobility. Consequently, interaction (e.g. manipulation) was treated separately from whole-body posture (e.g. balancing), assuming the robot firmly connected to the ground. Foreseen applications involve robots with augmented autonomy and physical mobility. Within this novel context, physical interaction influences stability and balance. To allow robots to surpass barriers between interaction and posture control, forthcoming robotic research needs to investigate the prin-ciples governing whole-body motion and coordination with contact dynamics. There is a need to investigate the principles of motion and coordination of physical interaction, including the aspects related to unpredictability. Recent devel-opments in compliant actuation and touch sensing allow safe and robust physical interaction from unexpected contact including humans. The next advance-
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"... le Institut Supérieur de l’Aéronautique et de l’Espace (ISAE) Henry de PLINVAL mercredi 15 janvier 2014 Commande référencée vision pour drones à décollages et atterrissages verticaux ..."
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le Institut Supérieur de l’Aéronautique et de l’Espace (ISAE) Henry de PLINVAL mercredi 15 janvier 2014 Commande référencée vision pour drones à décollages et atterrissages verticaux
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"... als die angegebenen Quellen / Hilfsmittel nicht benutzt, und die den benutzten Quellen wörtlich und inhaltlich entnommene Stellen als solche kenntlich gemacht habe. Statutory Declaration I declare that I have authored this thesis independently, that I have not used other than the declared sources / ..."
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als die angegebenen Quellen / Hilfsmittel nicht benutzt, und die den benutzten Quellen wörtlich und inhaltlich entnommene Stellen als solche kenntlich gemacht habe. Statutory Declaration I declare that I have authored this thesis independently, that I have not used other than the declared sources / resources, and that I have explicitly marked all material which has been quoted either literally or by content from the used sources. Graz, August 22, 2010........................................................ iological systems exhibit an impressive ability to interact with their environment. B They display high versatility in their movements, an ability to learn fast, and a remarkable robustness to noise and external perturbations. On the other hand even modern robots often look clumsy, have di culty to learn successfully in noisy, dynamic environments, and are prone to perturbations. Therefore, robot designers seek for inspiration from nature by identifying successful strategies of biological systems and applying them to robots.
