Development of the Humanoid Disaster Response Platform DRC-HUBO+

Jung, Taejin; Lim, Jeongsoo; Bae, Hyoin; Lee, Kang Kyu; Joe, Hyun-Min; Oh, Jun-Ho

doi:10.1109/tro.2017.2776287

Cited by 103 publications

(55 citation statements)

References 19 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…This hardware setup to maintain the field of view on the region of interest reduces the fetching time by enabling to detect shortest navigation paths to an object in appearance of an obstacle. In order to prevent undesirable tipping in robot's pitch during high The authors utilize the manipulator design from the prior DRC-HUBO+ humanoid robot [8], which enables precise position control due to high rigidity in manipulator design and minimal jitter in real-time joint reference communication. Precise position control is crucial for our fast service application in order to reduce the probability of grasp failure recovery as well as external collision due to perception inaccuracy.…”

Section: A Robot Platform Hardwarementioning

confidence: 99%

“…For subtasks related to perception, we dedicate a separate embedded Vision PC operating on Robot Operating System (ROS) middleware. For motion control, we dedicate a separate embedded motion PC operating on the custom PODO software framework [8] to leverage real-time communication of motor control.…”

Section: B Software Architecturementioning

confidence: 99%

“…For fast service robot applications in an indoor environment, we focused on run-time accuracy rather than optimizing the postprocessed map. This is a significant contribution from our previous DRC-HUBO+ platform [8], which had no visual localization ability and relied on human tele-operation for distanced motions.…”

Section: Localizationmentioning

confidence: 99%

See 2 more Smart Citations

Fast Perception, Planning, and Execution for a Robotic Butler: Wheeled Humanoid M-Hubo

Lee

Heo

Park

et al. 2019

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Self Cite

View full text Add to dashboard Cite

As the aging population grows at a rapid rate, there is an ever growing need for service robot platforms that can provide daily assistance at practical speed with reliable performance. In order to assist with daily tasks such as fetching a beverage, a service robot must be able to perceive its environment and generate corresponding motion trajectories. This becomes a challenging and computationally complex problem when the environment is unknown and thus the path planner must sample numerous trajectories that often are sub-optimal, extending the execution time. To address this issue, we propose a unique strategy of integrating a 3D object detection pipeline with a kinematically optimal manipulation planner to significantly increase speed performance at runtime. In addition, we develop a new robotic butler system for a wheeled humanoid that is capable of fetching requested objects at 24% of the speed a human needs to fulfill the same task. The proposed system was evaluated and demonstrated in a real-world environment setup as well as in public exhibition.

show abstract

Section: A Robot Platform Hardwarementioning

confidence: 99%

Section: B Software Architecturementioning

confidence: 99%

See 1 more Smart Citation

Fast Perception, Planning, and Execution for a Robotic Butler: Wheeled Humanoid M-Hubo

Lee

Heo

Park

et al. 2019

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Self Cite

View full text Add to dashboard Cite

show abstract

“…Conventional motion control systems consist of powerful main controllers based on industrial computers running proprietary software, which are very expensive and bulky in size [9,10]. These are mostly found in control systems for industrial and humanoid robots [11][12][13]. However, main controllers for mobile robots should be smaller to increase portability as they are required to move easily within the environment.…”

Section: Introductionmentioning

confidence: 99%

“…Because the velocity limits at the turning points are considered, the total traveling time is reformulated to conform the travel distance with MACV using (12). The reformulated MACV is calculated using (13), which is the velocity profile that can track a high curvature path while considering the physical limits of the mobile robot.…”

mentioning

confidence: 99%

Network-Oriented Real-Time Embedded System Considering Synchronous Joint Space Motion for an Omnidirectional Mobile Robot

Delgado

Choi

2019

Electronics

View full text Add to dashboard Cite

This paper proposes a real-time embedded system for joint space control of omnidirectional mobile robots. Actuators driving an omnidirectional mobile robot are connected in a line topology which requires synchronization to move simultaneously in translation and rotation. We employ EtherCAT, a real-time Ethernet network, to control servo controllers for the mobile robot. The first part of this study focuses on the design of a low-cost embedded system utilizing an open-source EtherCAT master. Although satisfying real-time constraints is critical, a desired trajectory on the center of the mobile robot should be decomposed into the joint space to drive the servo controllers. For the center of the robot, a convolution-based path planner and a corresponding joint space control algorithm are presented considering its physical limits. To avoid obstacles that introduce geometric constraints on the curved path, a trajectory generation algorithm considering high curvature turning points is adapted for an omnidirectional mobile robot. Tracking a high curvature path increases mathematical complexity, which requires precise synchronization between the actuators of the mobile robot. An improvement of the distributed clock—the synchronization mechanism of EtherCAT for slaves—is presented and applied to the joint controllers of the mobile robot. The local time of the EtherCAT master is dynamically adjusted according to the drift of the reference slave, which minimizes the synchronization error between each joint. Experiments are conducted on our own developed four-wheeled omnidirectional mobile robot. The experiment results confirm that the proposed system is very effective in real-time control applications for precise motion control of the robot even for tracking high curvature paths.

show abstract

Bioinspired Liquid Metal Based Soft Humanoid Robots

Li,

Yuan,

et al. 2024

Advanced Materials

View full text Add to dashboard Cite

The pursuit of constructing humanoid robots to replicate the anatomical structures and capabilities of human beings has been a long‐standing significant undertaking and especially garnered tremendous attention in recent years. However, despite the progress made over recent decades, humanoid robots have predominantly been confined to those rigid metallic structures, which however starkly contrast with the inherent flexibility observed in biological systems. To better innovate this area, the present article systematically explores the value and potential of liquid metals and their derivatives in facilitating a crucial transition towards soft humanoid robots. Through a comprehensive interpretation of bionics, we present an overview of liquid metals’ multifaceted roles as essential components in constructing advanced humanoid robots – functioning as soft actuators, sensors, power sources, logical devices, circuit systems, and even transformable skeletal structures. We conceived that the integration of these components with flexible structures, facilitated by the unique properties of liquid metals, can create unexpected versatile functionalities and behaviors to better fulfill human needs. Finally, we envision a revolution in humanoid robots, transitioning from metallic frameworks to hybrid soft‐rigid structures resembling that of biological tissues. This article is expected to provide fundamental guidance for the coming research, thereby advancing the area.This article is protected by copyright. All rights reserved

show abstract

Development of the Humanoid Disaster Response Platform DRC-HUBO+

Cited by 103 publications

References 19 publications

Fast Perception, Planning, and Execution for a Robotic Butler: Wheeled Humanoid M-Hubo

Fast Perception, Planning, and Execution for a Robotic Butler: Wheeled Humanoid M-Hubo

Network-Oriented Real-Time Embedded System Considering Synchronous Joint Space Motion for an Omnidirectional Mobile Robot

Bioinspired Liquid Metal Based Soft Humanoid Robots

Contact Info

Product

Resources

About