Reflexive stability control framework for humanoid robots

Autonomous Robots

Volumn 34, Issue 4, 2013, Pages 347-361

  Petrič, Tadej ^a   Gams, Andrej ^a,b   Babič, Jan ^a   Žlajpah, Leon ^a  

^a JO EF STEFAN INSTITUTE   (Slovenia)

^b EPFL   (Switzerland)

Author keywords

Humanoids; Skiing robot; Stability

Indexed keywords

CONTINUOUS TRANSITIONS; CONTROL FRAMEWORK; CRITICAL CONDITION; HUMAN MOVEMENTS; HUMANOIDS; JOINT MOVEMENT; KINEMATIC CONTROL; STABILITY CONTROL;

ARTIFICIAL INTELLIGENCE; CONVERGENCE OF NUMERICAL METHODS; ROBOTS;

ANTHROPOMORPHIC ROBOTS;

EID: 84877812052     PISSN: 09295593     EISSN: None     Source Type: Journal    
DOI: 10.1007/s10514-013-9329-0     Document Type: Article

References (56)

1. Antonelli, G. (2009). Stability analysis for prioritized closed-loop inverse kinematic algorithms for redundant robotic systems. IEEE Transactions on Robotics, 25(5), 985-994.
2. Asfour, T.; Dillmann, R. (2003). Human-like motion of a humanoid robot arm based on a closed-form solution of the inverse kinematics problem. In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), (Vol. 2, pp. 1407-1412).
3. Atkeson, C.; Hale, J.; Pollick, F.; Riley, M.; Kotosaka, S.; Schaul, S.; et al. (2000). Using humanoid robots to study human behavior. IEEE on Intelligent Systems and their Applications, 15(4), 46-56.
4. Babic, J.; Lenarcic, J. (2006). Optimization of biarticular gastrocnemius muscle in humanoid jumping robot simulation. International Journal of Humanoid Robotics, 3(2), 219-234.
5. Babič, J.; Bokman, L.; Omrčen, D.; Lenarčič, J.; Park, F. (2009). A biarticulated robotic leg for jumping movements: theory and experiments. Journal of Mechanisms and Robotics, 1, 1-9.
6. Babič, J.; Hale, J. G.; Oztop, E. (2011). Human sensorimotor learning for humanoid robot skill synthesis. Adaptive Behavior, 19(4), 250-263.
7. Babič, J.; Škorja, G. (2012). Analysis of musculoskeletal system responses to perturbations during standing posture. Elektrotehniki vestnik, 79(1/2), 7-12.
8. Baerlocher, P.; Boulic, R. (1998). Task-priority formulations for the kinematic control of highly redundant articulated structures. In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (Vol. 1, pp. 323-329).
9. Chen, T.-H.; Cheng, F.-T.; Sun, Y.-Y.; Hung, M.-H. (1994). Torque optimization schemes for kinematically redundant manipulators. Journal of Robotic Systems, 11(4), 257-269.
10. Cherubini, A.; Chaumette, F. (2010). A redundancy-based approach for obstacle avoidance in mobile robot navigation. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), (pp. 5700-5705).
11. Federolf, P.A. (2005). Finite element simulation of a carving alpine ski. PhD thesis, Swiss Federal Institute of Technology Zurich.
12. Gams, A.; Ijspeert, A. J.; Schaal, S.; Lenarčič, J. (2009). On-line learning and modulation of periodic movements with nonlinear dynamical systems. Autonomous Robots, 27(1), 3-23.
13. Gams, A.; Petrič, T.; Babič, J.; Žlajpah, L.; Ude, A. (2011). Constraining movement imitation with reflexive behavior: Robot squatting. In 11th IEEE-RAS International Conference on Humanoid Robots (Humanoids), (pp. 294-299).
14. Grillner, S. (1975). Locomotion in vertebrates: central mechanisms and reflex interaction. Physiological Reviews, 55(2), 247-304.
15. Harada, K.; Kajita, S.; Kaneko, K.; Hirukawa, H. (2003). Zmp analysis for arm/leg coordination. In Proceedings of 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), (Vol. 1, pp. 75-81).
16. Hirai, K.; Hirose, M.; Haikawa, Y.; Takenaka, T. (1998). The development of honda humanoid robot. In Proceedings of 1998 IEEE International Conference on Robotics and Automation, (Vol. 2, pp. 1321-1326).
17. Huang, Q.; Yokoi, K.; Kajita, S.; Kaneko, K.; Arai, H.; Koyachi, N.; et al. (2001). Planning walking patterns for a biped robot. Robotics and Automation, IEEE Transactions, 17(3), 280-289.
18. Hutter, M.; Hoepflinger, M. A.; Gehring, C.; Bloesch, M.; Remy, C. D.; Siegwart, R. (2012). Hybrid operational space control for compliant legged systems. RSS: In Robotics Science and Systems VIII.
19. Hyon, S.-H.; Hale, J.; Cheng, G. (2007). Full-body compliant human-humanoid interaction: Balancing in the presence of unknown external forces. Robotics, IEEE Transactions, 23(5), 884-898.
20. Ijspeert, A. J. (2008). Central pattern generators for locomotion control in animals and robots: A review. Neural Networks, 21(4), 642-653.
21. Ijspeert, A. J.; Nakanishi, J.; Schaal, S. (2002). Movement imitation with nonlinear dynamical systems in humanoid robots. In Proceedings of IEEE International Conference on Robotics and Automation, (pp. 1398-1403). Washington, DC.
22. Khatib, O. (1987). A unified approach for motion and force control of robot manipulators: The operational space formulation. IEEE Journal of Robotics and Automation, 3(1), 43-53.
23. Komoguchi, Y.; Yano, K.; Peer, A.; Buss, M. (2008). Redundancy resolution of a 7 dof haptic interface considering collision and singularity avoidance. In IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2008, pp. 3513-3518.
24. Lahajnar, L. (2009). Avtonomno smucanje humanoidnega robota. PhD thesis, Faculty of Electrical Engineering, University of Ljubljana.
25. Lahajnar, L.; Kos, A.; Nemec, B. (2009). Skiing robot-design, control, and navigation in unstructured environment. Robotica, 27, 567-577.
26. Liegeois, A. (1977). Automatic supervisory control of the configuration and behavior of multibody mechanisms. IEEE Transactions on Systems Man and Cybernetics, 7(12), 868-871.
27. Maciejewski, A. A.; Klein, C. A. (1985). Obstacle avoidance for kinematically redundant manipulators in dynamically varying environments. The International Journal of Robotics Research, 4(3), 109-117.
28. Mansard, N.; Khatib, O.; Kheddar, A. (2009). A unified approach to integrate unilateral constraints in the stack of tasks. IEEE Transactions on Robotics, 25(3), 670-685.
29. Murphy, R. R. (2000). Introduction to AI robotics (1st ed.), MIT Press, Cambridge.
30. Nakamura, Y. (1990). Advanced Robotics: Redundancy and Optimization (1st ed.), Addison-Wesley Longman Publishing Co.; Inc.; Boston.
31. Nemec, B.; Lahajnar, L. (2009). Control and navigation of the skiing robot. In Proceedings of the 2009 IEEE/RSJ international conference on Intelligent Robots and Systems IROS'09, (pp. 2321-2326). IEEE Press: Piscataway.
32. Nemec, B.; Žlajpah, L.; Omrčen, D. (2007). Comparison of null-space and minimal null-space control algorithms. Robotica, 25(05), 511-520.
33. Oberegger, U. F.; Kaps, P.; Mssner, M.; Heinrich, D.; Nachbauer, W. (2010). Simulation of turns with a 3d skier model. Procedia Engineering, 2(2):3171-3177. The Engineering of Sport 8 - Engineering Emotion.
34. Omrčen, D.; Ude, A. (2010). Redundancy control of a humanoid head for foveation and three-dimensional object tracking: A virtual mechanism approach. Advanced Robotics, 24(15), 2171-2197.
35. Peternel, L.; Petrič, T.; Nemec, B. (2011). Skiing robot navigation learning. In Zbornik 14. Mednarodne multikonference Informacijska druba-IS 2011, (vol. A). Institut Jozef Stefan.
36. Petrič, T.; Curk, B.; Cafuta, P.; Žlajpah, L. (2010). Modeling of the robotic powerball: A nonholonomic, underactuated, and variable structure-type system. Mathematical and Computer Modelling of Dynamical Systems, 16(4), 327-346.
37. Petrič, T.; Gams, A.; Ijspeert, A. J.; Žlajpah, L. (2011a). On-line frequency adaptation and movement imitation for rhythmic robotic tasks. The International Journal of Robotics Research, 30(14), 1775-1788
38. Petrič, T.; Nemec, B.; Babič, J.; Žlajpah, L. (2011b). Multilayer control of skiing robot. In International Conference on Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ, (pp. 4832-4837).
39. Righetti, L.; Ijspeert, A. J. (2006). Programmable central pattern generators: an application to biped locomotion control. In Proceedings of the 2006 IEEE International Conference on Robotics and Automation.
40. Samson, C.; Espiau, B.; Borgne, M. L. (1991). Robot control: The task function approach. Oxford: Oxford University Press.
41. Schaal, S.; Mohajerian, P.; Ijspeert, A. (2007). Dynamics systems vs. optimal control: A unifying view. Progress in Brain Research, 165(6), 425-445.
42. Sciavicco, L.; Siciliano, B. (2005). Modelling and control of robot manipulators (advanced textbooks in control and signal processing). Advanced textbooks in control and signal processing (2nd ed.). Heidelberg: Springer.
43. Sentis, L.; Park, J.; Khatib, O. (2010). Compliant control of multicontact and center-of-mass behaviors in humanoid robots. IEEE Transactions on Robotics, 26(3), 483-501.
44. Shin, D.; Sardellitti, I.; Park, Y.-L.; Khatib, O.; Cutkosky, M. (2010). Design and control of a bio-inspired human-friendly robot. The International Journal of Robotics Research, 29(5), 571-584.
45. Siciliano, B.; Khatib, O. (Eds.). (2008). Springer Handbook of Robotics. Heidelberg: Springer.
46. Siciliano, B.; Slotine, J.-J. (1991). A general framework for managing multiple tasks in highly redundant robotic systems. In 5th International Conference on Advanced Robotics,'Robots in Unstructured Environments', 91 ICAR, (Vol. 2, pp. 1211-1216).
47. Sugiura, H.; Gienger, M.; Janssen, H.; Goerick, C. (2007). Real-time collision avoidance with whole body motion control for humanoid robots. In IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007, (pp. 2053-2058).
48. Suleiman, W.; Kanehiro, F.; Miura, K.; Yoshida, E. (2009). Improving zmp-based control model using system identification techniques. In 9th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2009, (pp. 74-80).
49. Ude, A.; Atkeson, C. G.; Riley, M. (2004). Programming full-body movements for humanoid robots by observation. Robotics and Autonomous Systems, 47(2-3), 93-108. Robot Learning from Demonstration.
50. Ude, A.; Gams, A.; Asfour, T.; Morimoto, J. (2010). Task-specific generalization of discrete and periodic dynamic movement primitives. IEEE Transactions on Robotics, 26(5), 800-815.
51. Ukidve, C.; McInroy, J.; Jafari, F. (2008). Using redundancy to optimize manipulability of stewart platforms. IEEE/ASME Transactions on Mechatronics, 13(4), 475-479.
52. Vukobratovic, M.; Borovac, B. (2004). Zero-moment point: Thirty five years of its life. International Journal of Humanoid Robotics, 1(1), 157-173.
53. Vukobratovic, M.; Juricic, D. (1969). Contribution to the synthesis of biped gait. IEEE Transactions on Biomedical Engineering, 16(1), 1-6.
54. Žlajpah, L. (2006). Robotic yo-yo: Modelling and control strategies. Robotica, 24(2), 211-220.
55. Žlajpah, L.; Nemec, B. (2002). Kinematic control algorithms for on-line obstacle avoidance for redundant manipulators. In IEEE/RSJ International Conference on Intelligent Robots and Systems, (Vol. 2, pp. 1898-1903).
56. Yoneyama, T., Kagawa,H., Unemoto, M., Iizuka, T.,and Scott, N. (2009). Aski robot system for qualitativemodelling of the carved turn. Sports Engineering, 11, 131-141. doi:10.1007/s12283-009-0018-3.