Complete Low-Cost Implementation of a Teleoperated Control System for a Humanoid Robot

Cela, Andrés; Yebes, J. Javier; Arroyo, Roberto; Bergasa, Luis M.; Barea, Rafael; López, Elena

doi:10.3390/s130201385

Cited by 26 publications

(9 citation statements)

References 14 publications

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“…Cela et al [15] presented a motion capture system consisting of eight sensors to measure joint angles of the leg and acceleration of the arms. The authors ensure stability during real-time imitation using a feedback control system based on data of an accelerometer placed on the robot's back.…”

Section: Related Workmentioning

confidence: 99%

Real-time imitation of human whole-body motions by humanoids

Koenemann

Burget

Bennewitz

2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

145

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Abstract-In this paper, we present a system that enables humanoid robots to imitate complex whole-body motions of humans in real time. In our approach, we use a compact human model and consider the positions of the endeffectors as well as the center of mass as the most important aspects to imitate. Our system actively balances the center of mass over the support polygon to avoid falls of the robot, which would occur when using direct imitation. For every point in time, our approach generates a statically stable pose. Hereby, we do not constrain the configurations to be in double support. Instead, we allow for changes of the support mode according to the motions to imitate. To achieve safe imitation, we use retargeting of the robot's feet if necessary and find statically stable configurations by inverse kinematics. We present experiments using human data captured with an Xsens MVN motion capture system. The results show that a Nao humanoid is able to reliably imitate complex whole-body motions in real time, which also include extended periods of time in single support mode, in which the robot has to balance on one foot.

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Section: Related Workmentioning

confidence: 99%

Real-time imitation of human whole-body motions by humanoids

Koenemann

Burget

Bennewitz

2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

145

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“…Encompassing several fields such as biomedicine, automation, robotics and engineering (CELA et al,2013;ORTEGA-ZAMORANO et al,2013;KORNUTA et al, 2013). Several applications are registered, such as datalogging (ELMEHRAZ et al, 2013;PURVIS et al 2013, BORKAR, 2012, HLOUPIS et al, 2012 bioprocess automation (FALK, 2011).…”

Section: Literature Reviewmentioning

confidence: 99%

Arduino Open Hardware Test Through Chemical System Simulation Under Lumped Model Dynamics

Filho¹,

Furlong²,

Costa³

2015

Anais Do XX Congresso Brasileiro De Engenharia Química

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RESUMO -Arduino boards are interesting computing tool due to low cost and power consumption, as well as I/O ports, both analogs and digitals. Yet, small memory and clock frequency with truncation errors may disrupt numerical processing. This study aimed to design and evaluate the performance of a dynamic simulation based on ODEs in the Arduino, with three evaluated microprocessors; ATMEGA 328P and 2560, both 8 bits, and SAM3X8E Atmel ARM CORTEX -32 bits. The study case was a batch reactor dynamic simulation. The Runge-Kutta 4th order algorithm was written in C++ and compiled for EPROM utilization. The output was a 115000bit/s serial connection. Processing time was almost identical for 8 bits architectures, while 32 bits was 25% faster. Without the serial connection the 8 bits architectures were 16 times faster and the 32 bits was 42 times faster. Error truncation was similar, since the floating points is done through software. The Arduino platform, despite its modest hardware, allows simple chemical systems simulation.

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“…The work developed in [13] implements a low-cost tele-operated system in order to replicate the movements in a small humanoid robot. A feedback stability control and a fuzzy control based on low-cost open platforms have been developed.…”

Section: Papers In the Special Issuementioning

confidence: 99%

Introduction to the Special Issue on “New Trends towards Automatic Vehicle Control and Perception Systems”

Milanés

Bergasa

2013

Sensors

Self Cite

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Intelligent and automatic systems are making our daily life easier. They are able to automate tasks that, up to now, were performed by humans, freeing them from these tedious tasks. They are mainly based on the classical robotic architectures where the stages of perception-using different sensor sources or even a fusion of a set of them-and planning-where intelligent control systems are applied-play a key role. Among all of the fields in which intelligent systems can be applied, transport systems are considered one of the most promising ones since over one million fatalities-including drivers, pedestrians, cyclists and motorcyclists-are registered each year worldwide and they can definitively help to reduce these figures.The growth in the number of drivers in the last decades, and consequently in the number of vehicles, has made traffic accidents become a major concern in the road transportation sector. Solutions such as building new transport infrastructures-specifically in urban areas where space limitations make it almost impossible-or increasing fines for inappropriate driving have not achieved the goal of reducing the number of fatalities, either in urban environments or highways. New policies on the part of the Governments are focused on the development of a safer, more reliable and more efficient transportation supported by intelligent systems.The field of research in which all these topics fall into is well-known as intelligent transportation systems (ITS). ITS focuses on improving road safety by acting on two possible aspects: on the one hand, the infrastructure and the possibilities of optimizing traffic flow, and on the other hand, acting on the cars with the development of Advanced Driver Assistance Systems (ADAS) and the possibilities of optimizing traffic safety. The final goal is trying to reduce the number of collisions, or at least to mitigate their consequences. In this connection, one of the currently hot topics in the road OPEN ACCESS

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Complete Low-Cost Implementation of a Teleoperated Control System for a Humanoid Robot

Cited by 26 publications

References 14 publications

Real-time imitation of human whole-body motions by humanoids

Real-time imitation of human whole-body motions by humanoids

Arduino Open Hardware Test Through Chemical System Simulation Under Lumped Model Dynamics

Introduction to the Special Issue on “New Trends towards Automatic Vehicle Control and Perception Systems”

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