A Tele-operated Humanoid Operator

Yokoi, Kazuhito; Nakashima, Katsumi; Yanagihara, Yoshitaka

doi:10.1007/11552246_22

Cited by 3 publications

(4 citation statements)

References 8 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Such a virtual object was used by Natale in [10]. The object frame was chosen as 5 of the rotation matrix R −1 r R l . This virtual object is connected via a spatial spring K o to a virtual equilibrium pose H o,d .…”

Section: B Coordinated Two-armed Manipulationmentioning

confidence: 99%

“…Two-handed manipulation involving dextrous hands is particularly of interest for humanoid robots. Basic autonomous manipulation skills as well as teleoperated manipulation have been presented, e.g., with NASA's Robonaut [4] and the Japanese humanoid robot HRP [5]. Platt Jr. et al [6] describes a control basis that is suitable for force-based interactions.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Impedance Behaviors for Two-handed Manipulation: Design and Experiments

Wimböck

Ott

Hirzinger

2007

Proceedings 2007 IEEE International Conference on Robotics and Automation

View full text Add to dashboard Cite

The control of humanoid manipulators is very challenging due to the large number of degrees of freedom and the resulting redundancy. Using joint-level control complex planning algorithms are needed to accomplish tasks. For intuitive operation and hence short development times of applications high-level control interfaces are needed. Furthermore, for many tasks it is desirable to define an impedance behavior in task space. In this paper a flexible control law is proposed which offers object-level impedances for two-handed manipulation. The controller structure is based on the wellknown compliance control law. The main contributions of this work are the way how to combine several potential functions for two-handed manipulation and the experimental validation of hand-arm coordination. The controller is implemented on DLR's humanoid manipulator Justin and its performance is demonstrated experimentally by unscrewing a can and motion of a grasped box.

show abstract

Section: B Coordinated Two-armed Manipulationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Impedance Behaviors for Two-handed Manipulation: Design and Experiments

Wimböck

Ott

Hirzinger

2007

Proceedings 2007 IEEE International Conference on Robotics and Automation

View full text Add to dashboard Cite

show abstract

“…Indeed, in disaster situations, such as those exemplified by major nuclear accidents, the robot helper must operate utility vehicles normally driven by humans, not only to travel around the site, but also to transport tools, debris, or whatever needs to be moved. The robot should also be capable of operating cranks or other specific tools attached to the vehicle [10], [11]. It is unlikely to see such vehicles instrumented for automated driving.…”

Section: Introductionmentioning

confidence: 99%

Toward autonomous car driving by a humanoid robot: A sensor-based framework

Paolillo

Cherubini

Keith

et al. 2014

2014 IEEE-RAS International Conference on Humanoid Robots

View full text Add to dashboard Cite

To achieve the complete car driving task with a humanoid robot, it is necessary to develop a set of basic action primitives, including: walking to the vehicle, manually controlling its commands (ignition, accelerator and steering), and moving with the whole-body, for car ingress/egress. In this paper, we propose an approach for realizing the central part of the complete task, consisting in driving the car along a road. The proposed method is composed of two main parts. First, a vision-based controller uses image features of the road, to provide the reference angle for the steering wheel. Second, an admittance controller allows the humanoid to safely rotate the steering wheel with its hands and realize the desired steering command. We present results from a car driving experience, by humanoid robot HRP-4, within a video game setup.

show abstract

“…Without a humanoid, these tasks can be hardly achieved by a unique system. Moreover, the robot should operate cranks or other tools attached to the vehicle . A second demand comes from the car manufacturing industry .…”

Section: Introductionmentioning

confidence: 99%

Autonomous car driving by a humanoid robot

Paolillo

Gergondet

Cherubini

et al. 2017

Journal of Field Robotics

View full text Add to dashboard Cite

Enabling a humanoid robot to drive a car requires the development of a set of basic primitive actions. These include walking to the vehicle, manually controlling its commands (e.g., ignition, gas pedal, and steering) and moving with the whole body to ingress/egress the car. We present a sensor‐based reactive framework for realizing the central part of the complete task, consisting of driving the car along unknown roads. The proposed framework provides three driving strategies by which a human supervisor can teleoperate the car or give the robot full or partial control of the car. A visual servoing scheme uses features of the road image to provide the reference angle for the steering wheel to drive the car at the center of the road. Simultaneously, a Kalman filter merges optical flow and accelerometer measurements to estimate the car linear velocity and correspondingly compute the gas pedal command for driving at a desired speed. The steering wheel and gas pedal reference are sent to the robot control to achieve the driving task with the humanoid. We present results from a driving experience with a real car and the humanoid robot HRP‐2Kai. Part of the framework has been used to perform the driving task at the DARPA Robotics Challenge.

show abstract

A Tele-operated Humanoid Operator

Cited by 3 publications

References 8 publications

Impedance Behaviors for Two-handed Manipulation: Design and Experiments

Impedance Behaviors for Two-handed Manipulation: Design and Experiments

Toward autonomous car driving by a humanoid robot: A sensor-based framework

Autonomous car driving by a humanoid robot

Contact Info

Product

Resources

About