Development of experimental legged robot for inspection and disaster response in plants

Yoshiike, Takahide; Kuroda, Mitsuhide; Ujino, Ryuma; Kaneko, Hiroyuki; Higuchi, Hirofumi; Iwasaki, Shingo; Kanemoto, Yoshiki; Asatani, Minami; Koshiishi, Takeshi

doi:10.1109/iros.2017.8206364

Cited by 48 publications

(11 citation statements)

References 20 publications

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“…From the viewpoint of mechanics, wiring must be considered when designing a humanoid robot. A humanoid robot that reduces wiring by utilizing optical communication technology also appears [51]. The author hopes that the technology introduced in this paper will help researchers developing humanoid robots in the future.…”

Section: Discussionmentioning

confidence: 97%

Mechanics of humanoid robot

Hashimoto

2020

Advanced Robotics

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The effects of mechanical system dynamics are often disregarded in the design process of humanoid robots. Sophisticated control methods may compensate for some limitations of the mechanical structure, however, principal limitations of the system performance can arise from poor mechanical architecture. Therefore, it is important to develop robot hardware that behaves close to an ideal model and that is easy to be modeled from the viewpoint of mechanics. This paper surveys the mechanics of humanoid robots from the viewpoint of joint mechanism, kinematic structure of the leg joints, and foot mechanisms. Firstly, the actuators and power transmission mechanisms for driving the joints are summarized. For the kinematic structure of leg joints, the characteristics of serial and parallel mechanisms are explained, and the specific configuration of the hip, knee and ankle joints are introduced. In order to make a robot move as close to the ideal movement as possible, we need to design the robot to reduce backlash at each joint. Various foot mechanisms are also introduced in the paper.

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Section: Discussionmentioning

confidence: 97%

Mechanics of humanoid robot

Hashimoto

2020

Advanced Robotics

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“…The list of such systems is long; therefore, we limit the scope of this article to systems designed for dual-arm mobile manipulation. These include the HRP (Humanoid Robotics Project) robots, used for aircraft assembly tasks [6] and construction work [7]; DLR's Rollin' Justin [8]; the fully torquecontrolled TORO [9]; and robots such as the WALK-MAN [10] and E2-DR [11].…”

Section: Background and Related Workmentioning

confidence: 99%

ARMAR-6: A High-Performance Humanoid for Human-Robot Collaboration in Real-World Scenarios

Asfour

Paus

Waechter

et al. 2019

IEEE Robot. Automat. Mag.

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major goal of humanoid robotics is to enable safe and reliable human-robot collaboration in realworld scenarios. In this article, we present ARMAR-6, a new high-performance humanoid robot for various tasks, including but not limited to grasping, mobile manipulation, integrated perception, bimanual collaboration, compliant-motion execution, and natural language understanding. We describe how the requirements arising from these tasks influenced our major design decisions, resulting in vertical integration during the joint hardware and software development phases. In particular, the entire hardware-including its structure, sensor-actuator units, and low-level controllers-as well as its perception, grasping and manipulation skills, task coordination, and the entire software architecture were all developed by one team of engineers. Component interaction is facilitated by our software framework ArmarX, which

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“…Most state-of-the-art robotic platforms use some combination of LIDAR and stereo for 3D reconstruction (Atkeson et al, 2015; Fallon et al, 2015; Haynes et al, 2017; Hutter et al, 2017; Kaneko et al, 2015; Karumanchi et al, 2017; Radford et al, 2015; Tsagarakis et al, 2017; Yoshiike et al, 2017), as well as task-speciﬁc cameras for teleoperation (Atkeson et al, 2015; Fallon et al, 2015; Kaneko et al, 2015; Radford et al, 2015; Yoshiike et al, 2017). Even though the literature describing such platforms does not quantitatively evaluate visual coverage or how eﬀective certain sensor locations are, some discuss the lack of visual coverage as a problem in operation (Fallon et al, 2015; Haynes et al, 2017) and the need for scattering more visual sensors throughout the robot as a solution (Atkeson et al, 2015).…”

Section: Related Workmentioning

confidence: 99%

“…Also at DRC, the robot HRP-2Kai used a head design and LIDAR placement to be able to cover points at the robot's feet, as well as cameras on the palms of the hands for manipulation tasks (Kaneko et al, 2015). The robot E2-DR (Yoshiike et al, 2017) has similar cameras on the hands, and a head system similar to CHIMP's with two LIDAR sensors rotating along the yaw axis (one sensor at each ear) and a front-looking stereo and time-offlight (TOF) camera. The quadruped legged robot ANYmal (Hutter et al, 2017) also uses a pair of LIDAR, one in the front and one in the back of the body, as well as a pan-tilt sensor head on top of the body for specialized sensors.…”

Section: Legged Robot 3d Perception-system Designsmentioning

confidence: 99%

Placing and scheduling many depth sensors for wide coverage and efficient mapping in versatile legged robots

Brandão

Figueiredo

Kazuki

et al. 2019

The International Journal of Robotics Research

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This article tackles the problem of designing 3D perception systems for robots with high visual requirements, such as versatile legged robots capable of different locomotion styles. In order to guarantee high visual coverage in varied conditions (e.g., biped walking, quadruped walking, ladder climbing), such robots need to be equipped with a large number of sensors, while at the same time managing the computational requirements that arise from such a system. We tackle this problem at both levels: sensor placement (how many sensors to install on the robot and where) and run-time acquisition scheduling under computational constraints (not all sensors can be acquired and processed at the same time). Our first contribution is a methodology for designing perception systems with a large number of depth sensors scattered throughout the links of a robot, using multi-objective optimization for optimal trade-offs between visual coverage and the number of sensors. We estimate the Pareto front of these objectives through evolutionary optimization, and implement a solution on a real legged robot. Our formulation includes constraints on task-specific coverage and design symmetry, which lead to reliable coverage and fast convergence of the optimization problem. Our second contribution is an algorithm for lowering the computational burden of mapping with such a high number of sensors, formulated as an information-maximization problem with several sampling techniques for speed. Our final system uses 20 depth sensors scattered throughout the robot, which can either be acquired simultaneously or optimally scheduled for low CPU usage while maximizing mapping quality. We show that, when compared with state-of-the-art robotic platforms, our system has higher coverage across a higher number of tasks, thus being suitable for challenging environments and versatile robots. We also demonstrate that our scheduling algorithm allows higher mapping performance to be obtained than with naïve and state-of-the-art methods by leveraging on measures of information gain and self-occlusion at low computational costs.

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Development of experimental legged robot for inspection and disaster response in plants

Cited by 48 publications

References 20 publications

Mechanics of humanoid robot

Mechanics of humanoid robot

ARMAR-6: A High-Performance Humanoid for Human-Robot Collaboration in Real-World Scenarios

Placing and scheduling many depth sensors for wide coverage and efficient mapping in versatile legged robots

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