Cybernetic human HRP-4C

Kaneko, Kenji; Kanehiro, Fumio; Morisawa, Masaaki; Miura, Kanako; Nakaoka, Shin’ichiro; Kajita, Shin

doi:10.1109/ichr.2009.5379537

Cited by 181 publications

(87 citation statements)

References 16 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…However, to our best knowledge no research has focused on the role of the thigh for biped locomotion. While the HRP-4C [29] and Kenshiro humanoid [30] robot seem to visually have a morphology design close to the thigh shape of Poppy, they did not study, in the associated scientific papers the role of this shape on the dynamic of their humanoid robot.…”

Section: Related Workmentioning

confidence: 99%

Poppy humanoid platform: Experimental evaluation of the role of a bio-inspired thigh shape

Lapeyre

Oudeyer

2013

2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids)

View full text Add to dashboard Cite

Abstract-In this paper, we present an experimental evaluation of the role of the morphology in the Poppy humanoid platform. More precisely, we have investigated the impact of the bio-inspired thigh, bended of 6 o , on the balance and biped locomotion. We compare this design with a more traditional straight thigh. We describe both the theoretical model and real experiments showing that the bio-inspired thigh allows the reduction of falling speed by almost 60% (single support phase) and the decrease of the lateral motion needed for the mass transfer from one foot to the other by 30% (double support phase). We also present an experiment where the robot walks on a treadmill thanks to the social and physical guidance of expert users and we show that the bended thigh reduces the upper body motion by about 45% indicating a more stable walk.

show abstract

Section: Related Workmentioning

confidence: 99%

Poppy humanoid platform: Experimental evaluation of the role of a bio-inspired thigh shape

Lapeyre

Oudeyer

2013

2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids)

View full text Add to dashboard Cite

show abstract

“…Kaneko et al (2005) presented a stabilizer module that works with local PID servo controllers to stabilize various versions of HRP robots. Kaneko et al (2009) presented the most recent version of the HRP robots "HRP-4C" that has the same control architecture. The decentralized PID control is widely used for humanoid robots and most of the ⋆ This research has been done on the CICADA project which is financed by the EPSRC grant EP/E050441/1 and the University of Manchester.…”

Section: Introductionmentioning

confidence: 99%

A Comparison of Multivariable & Decentralized Control Strategies for Robust Humanoid Walking

Dallali¹,

Medrano-Cerda²,

Brown³

2010

UKACC International Conference on CONTROL 2010

View full text Add to dashboard Cite

Bipedal walking is one of the most interesting control problems in humanoids research. Walking is modelled as a hybrid system in the sense that it involves various phases such as single support phase, impacts with the ground (i.e. a state reset) and the double support phase. The control system has to provide good dynamic performance in these different modes to achieve fast walking speeds while guaranteeing its safe and robust operation. Most humanoids use local joint PID loops (decentralized) control systems while the robot is a multivariable system and walking involves significant interactions between the robot links. Hence in this paper a centralized LQR multivariable controller is designed for the robot and analyzed for its stability, robustness to noise and disturbances and dynamic performance. Then, an LQR based iterative algorithm is used to tune the local PID servos. A comparison between the two schemes is done, where it is shown that the multivariable LQR has better robustness and energy efficiency. Finally, both controllers are simulated using the linearized model of a 10 degree of freedom robot called "C-Cub".

show abstract

“…Traditional bipedal robots with rigid joints (e.g. [4], [5]) are energetically inefficient, and not inherently robust to disturbances in terrain. Passive dynamic walkers (e.g.…”

Section: Introductionmentioning

confidence: 99%

BLUE: A bipedal robot with variable stiffness and damping

Enoch

Sutas

Nakaoka

et al. 2012

2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)

Self Cite

View full text Add to dashboard Cite

Abstract-Exploiting variable impedance for dynamic tasks such as walking is both challenging and topical -research progress in this area impacts not only autonomous, bipedal mobility but also prosthetics and exoskeletons. In this work, we present the design, construction and preliminary testing of a planar bipedal robot with joints capable of physically varying both their stiffness and damping independently -the first of its kind. A wide variety of candidate variable stiffness and damping actuator designs are investigated. Informed by human biophysics and locomotion studies, we design an appropriate (heterogenous) impedance modulation mechanism that fits the necessary torque and stiffness range and rate requirements at each joint while ensuring the right form factor. In addition to hip, knee and ankle, the constructed robot is also equipped with a three part compliant foot modelled on human morphology. We describe in detail the hardware construction and the communication and control interfaces. We also present a full physics based dynamic simulation which matches the hardware closely. Finally, we test impedance modulation response characteristics and a basic walking gait realised through a simple movement controller, both in simulation and on the real hardware.

show abstract

Cybernetic human HRP-4C

Cited by 181 publications

References 16 publications

Poppy humanoid platform: Experimental evaluation of the role of a bio-inspired thigh shape

Poppy humanoid platform: Experimental evaluation of the role of a bio-inspired thigh shape

A Comparison of Multivariable & Decentralized Control Strategies for Robust Humanoid Walking

BLUE: A bipedal robot with variable stiffness and damping

Contact Info

Product

Resources

About