Passive control architecture for virtual humans

Rennuit, Antoine; Micaelli, Alain; Merlhiot, Xavier; Andriot, Claude; Guillaume, François; Chevassus, Nicolas; Chablat, Damien; Chedmail, P.

doi:10.1109/iros.2005.1545543

Cited by 9 publications

(3 citation statements)

References 11 publications

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“…In the meanwhile, several concepts have been proposed that enable to conclude valuable properties such as asymptotic stability [16], [17] or conditional passivity [18], which allows to state passive interaction with the environment but under specific circumstances only. In general, null space projections destroy the passivity [19] as will also be demonstrated in Sec. II-B.…”

Section: Introductionmentioning

confidence: 69%

Passivation of Projection-Based Null Space Compliance Control Via Energy Tanks

Dietrich

Ott

Stramigioli

2016

IEEE Robot. Autom. Lett.

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A manipulator with kinematic redundancy w.r.t. a main task enables to perform an additional, subordinate task in its null space. The classical hierarchy-based approach is to apply dynamically consistent null space projections such that this lowerpriority task does not disturb the main task. The major problem is that the control task hierarchy is established at the expense of the passivity of the system, which causes problems in terms of stability, robustness, and safety. Here, we extend this classical approach and passivate the closed-loop system by means of an energy tank, which is filled by the dissipated power of the active damping on both hierarchy levels. We validate the method in simulations and experiments on a torque-controlled manipulator. The concept is predestined for physical human-robot interaction and safety-relevant applications, where passivity must be guaranteed.

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Section: Introductionmentioning

confidence: 69%

Passivation of Projection-Based Null Space Compliance Control Via Energy Tanks

Dietrich

Ott

Stramigioli

2016

IEEE Robot. Autom. Lett.

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“…However, robustness to disturbance is not taken into account and projection methods present passivity issues [18].…”

Section: B Related Workmentioning

confidence: 99%

Robust balance optimization control of humanoid robots with multiple non coplanar grasps and frictional contacts

Collette

Micaelli

Andriot

et al. 2008

2008 IEEE International Conference on Robotics and Automation

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While realizing a task, human-beings are able to use grasping inside their environment in order to keep the most stable balance. Although such a behavior is quite natural for humans, it is very difficult to find the best formulation to adapt human motion to humanoid robots. This paper proposes a conceptually simple framework of human posture control based on optimization which takes into account grasp and friction and achieves robustness against external disturbances. A new stability criteria is also introduced.Contrary to most other approaches, our method deals not only with unilateral contacts with friction but also with bilateral grasps. This allows for arbitrarily pulling, pushing or twisting on a handhold. Additionally, and in contrast to classical methods based on ZMP, our method also accounts for contacts not being all in the same plane.

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“…For instance, human-motion data represented as sets of discriminant features can be mapped to humanoid teleoperation commands [1] [2][3] [26] [27]. In recent years, using the inexpensive Kinect motion sensor has been used to perform direct markerless human-imitation or manipulator control [4] [7] without device encumberment.…”

Section: Introductionmentioning

confidence: 99%

Enhancing the robot avateering metaphor discreetly with an assistive agent and its effect on perception

Koh¹,

Pfeil²,

LaViola³

2014

The 23rd IEEE International Symposium on Robot and Human Interactive Communication

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We present a modeling approach to develop an agent that assists users discreetly in teleoperation when avateering a robot via an inexpensive motion sensor. Avateering is a powerful metaphor, and can be an effective teleoperating strategy. Avateering a Humanoid Robot (HR) with no wearable device encumberment, such as using the popular Kinect/NUI motion sensor, is also desirable and very promising. However, this control scheme makes it difficult for the slave robot to make contact and interact with objects with high accuracy due to factors such as viewpoint, individually-unique and unilateral human-side control imprecision, and lack of informative tactile feedback. Our research explores the addition of an assistive agent that arbitrates user input without disrupting the overall experience and expectation. Additionally, our agent assists with maintaining a higher level of accuracy for interaction tasks, in our case, a grasping and lifting scenario. Using the Webots robot simulator, we implemented 4 assistive agents to augment the user in avateering the Darwin-OP robot. The agent iterations are described, and results of a user study are presented. We discuss user perception towards the avateering metaphor when enhanced by the agent and also when unassisted, including perceived easiness of the task, responsiveness of the robot, and accuracy.

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Passive control architecture for virtual humans

Cited by 9 publications

References 11 publications

Passivation of Projection-Based Null Space Compliance Control Via Energy Tanks

Passivation of Projection-Based Null Space Compliance Control Via Energy Tanks

Robust balance optimization control of humanoid robots with multiple non coplanar grasps and frictional contacts

Enhancing the robot avateering metaphor discreetly with an assistive agent and its effect on perception

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