2007 7th IEEE-RAS International Conference on Humanoid Robots

Nov. 29 2007-Dec. 1 2007

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    Publication Year: 2007, Page(s):1 - 11
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    Publication Year: 2007, Page(s):1 - 46
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  • A collocation method for real-time walking pattern generation

    Publication Year: 2007, Page(s):1 - 6
    Cited by:  Papers (42)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (330 KB) | HTML iconHTML

    This paper presents a new real-time walking pattern generator that calculates center of mass trajectories from footstep locations. Key features are the calculation of reference torque patterns by quadratic programming and the solution of the equations of motion by spline collocation. Fast real-time planning is combined with offline optimisation of free parameters based on a comprehensive simulatio... View full abstract»

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  • A strategy to combine active trajectory control with the exploitation of the natural dynamics to reduce energy consumption for bipedal robots

    Publication Year: 2007, Page(s):7 - 12
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (433 KB) | HTML iconHTML

    The biped Lucy, powered by pleated pneumatic artificial muscles, has been built and controlled and is able to walk up to a speed of 0.15 m/s. The pressures inside the muscles are controlled by a joint trajectory tracking controller to track the desired joint trajectories calculated by a trajectory generator. However, the actuators are set to a fixed stiffness value. In this paper a compliance cont... View full abstract»

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  • Online gain switching algorithm for joint position control of a hydraulic humanoid robot

    Publication Year: 2007, Page(s):13 - 18
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (758 KB) | HTML iconHTML

    This paper proposes a gain switching algorithm for joint position control of a hydraulic humanoid robot. Accurate position control of the lower body is one of the basic requirements for robust balance and walking control. Joint position control is more difficult for hydraulic robots than it is for electric robots because of a slower actuator time constant and the back-drivability of hydraulic join... View full abstract»

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  • Simultaneous adaptation to rough terrain and unknown external forces for biped humanoids

    Publication Year: 2007, Page(s):19 - 26
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (719 KB) | HTML iconHTML

    This paper reports on the applicability of our passivity-based contact force control framework for humanoids. We present its adaptation to unknown rough terrain. The adaptation to uneven ground is achieved by an optimally-distributed anti-gravitational forces applied to preset contact points in a feed-forward manner even without explicitly measuring the external forces or the terrain shape. The ad... View full abstract»

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  • A model of shared grasp affordances from demonstration

    Publication Year: 2007, Page(s):27 - 35
    Cited by:  Papers (14)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (624 KB) | HTML iconHTML

    This paper presents a hierarchical, statistical topic model for representing the grasp preshapes of a set of objects. Observations provided by teleoperation are clustered into latent affordances shared among all objects. Each affordance defines a joint distribution over position and orientation of the hand relative to the object and conditioned on visual appearance. The parameters of the model are... View full abstract»

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  • Backdrivable miniature hydrostatic transmission for actuation of anthropomorphic robot hands

    Publication Year: 2007, Page(s):36 - 41
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (553 KB) | HTML iconHTML

    Humanoid robots demand high performance on actuators, such as power-to-weight ratio, durability, occupation volume, and freedom of placement. Also, for robots to interact with unknown objects, flexibility is necessary. Backdrivability is effective when both flexibility and high output torque needs to be realized, which were often contradicting requirement. In this paper, backdrivable hydrostatic t... View full abstract»

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  • Grasp planning in complex scenes

    Publication Year: 2007, Page(s):42 - 48
    Cited by:  Papers (68)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (4179 KB) | HTML iconHTML

    This paper combines grasp analysis and manipulation planning techniques to perform fast grasp planning in complex scenes. In much previous work on grasping, the object being grasped is assumed to be the only object in the environment. Hence the grasp quality metrics and grasping strategies developed do not perform well when the object is close to obstacles and many good grasps are infeasible. We i... View full abstract»

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  • Learning grasp strategies composed of contact relative motions

    Publication Year: 2007, Page(s):49 - 56
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (315 KB) | HTML iconHTML

    Of central importance to grasp synthesis algorithms are the assumptions made about the object to be grasped and the sensory information that is available. Many approaches avoid the issue of sensing entirely by assuming that complete information is available. In contrast, this paper focuses on the case where force feedback is the only source of new information and limited prior information is avail... View full abstract»

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  • Multiple balance strategies from one optimization criterion

    Publication Year: 2007, Page(s):57 - 64
    Cited by:  Papers (32)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (475 KB) | HTML iconHTML

    Multiple strategies for standing balance have been observed in humans, including using the ankles to apply torque to the ground, using the hips and/or arms to generate horizontal ground forces, and using the knees and hips to squat. This paper shows that multiple strategies can arise from the same optimization criterion. It is likely that humanoid robots will exhibit the same balance strategies as... View full abstract»

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  • Learning Capture Points for humanoid push recovery

    Publication Year: 2007, Page(s):65 - 72
    Cited by:  Papers (33)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (3068 KB) | HTML iconHTML

    We present a method for learning capture points for humanoid push recovery. A capture point is a point on the ground to which the biped can step and stop without requiring another step. Being able to predict the location of such points is very useful for recovery from significant disturbances, such as after being pushed. While dynamic models can be used to compute capture points, model assumptions... View full abstract»

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