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Development of Selective Driving Joint Forceps Using Shape Memory Polymer | https://ieeexplore.ieee.org/document/9340868/ | [
"Katsuhiko Fukushima",
"Takahiro Kanno",
"Tetsuro Miyazaki",
"Toshihiro Kawase",
"Kenji Kawashima",
"Katsuhiko Fukushima",
"Takahiro Kanno",
"Tetsuro Miyazaki",
"Toshihiro Kawase",
"Kenji Kawashima"
] | In this study, we developed a selective driving joint forceps (SDJF) for laparoscopic surgery. The SDJF has a mechanism that the driving joints can be selected arbitrarily, therefore each joint doesn't require an individual actuator for operating. The developed SDJF has six joints that can be operated using only four actuators. Each joint has 2-degrees-of-freedom (DOF) of flexion. Therefore, the S... |
Payload optimization of surgical instruments with rolling joint mechanisms | https://ieeexplore.ieee.org/document/9341318/ | [
"Dong-Ho Lee",
"Minho Hwang",
"Joonhwan Kim",
"Dong-Soo Kwon",
"Dong-Ho Lee",
"Minho Hwang",
"Joonhwan Kim",
"Dong-Soo Kwon"
] | Many surgical robots with steerable surgical instruments have been proposed for endoscopic surgery. Surgical instruments should be small in size for insertion into the body and be able to handle large payloads such as tissue. Because the overall diameter and payload parameters are a trade-off, it is difficult to design an instrument with a large payload while reducing its diameter. In this paper, ... |
Autonomous task planning and situation awareness in robotic surgery | https://ieeexplore.ieee.org/document/9341382/ | [
"Michele Ginesi",
"Daniele Meli",
"Andrea Roberti",
"Nicola Sansonetto",
"Paolo Fiorini",
"Michele Ginesi",
"Daniele Meli",
"Andrea Roberti",
"Nicola Sansonetto",
"Paolo Fiorini"
] | The use of robots in minimally invasive surgery has improved the quality of standard surgical procedures. So far, only the automation of simple surgical actions has been investigated by researchers, while the execution of structured tasks requiring reasoning on the environment and the choice among multiple actions is still managed by human surgeons. In this paper, we propose a framework to impleme... |
Improving Motion Planning for Surgical Robot with Active Constraints | https://ieeexplore.ieee.org/document/9341302/ | [
"Hang Su",
"Yingbai Hu",
"Jiehao Li",
"Jing Guo",
"Yuan Liu",
"Mengyao Li",
"Alois Knoll",
"Giancarlo Ferrigno",
"Elena De Momi",
"Hang Su",
"Yingbai Hu",
"Jiehao Li",
"Jing Guo",
"Yuan Liu",
"Mengyao Li",
"Alois Knoll",
"Giancarlo Ferrigno",
"Elena De Momi"
] | In this paper, an improved motion planning scheme is proposed for surgical robot control with multiple active constraints, including joint constraints, joint velocity constraints and remote center of motion constraints. It introduces an improved recurrent neural network (RNN) to optimize the online motion planning respect to multiple constraints. The demonstrated surgical operation trajectory is d... |
Integrating Model Predictive Control and Dynamic Waypoints Generation for Motion Planning in Surgical Scenario | https://ieeexplore.ieee.org/document/9341673/ | [
"Marco Minelli",
"Alessio Sozzi",
"Giacomo De Rossi",
"Federica Ferraguti",
"Francesco Setti",
"Riccardo Muradore",
"Marcello Bonfè",
"Cristian Secchi",
"Marco Minelli",
"Alessio Sozzi",
"Giacomo De Rossi",
"Federica Ferraguti",
"Francesco Setti",
"Riccardo Muradore",
"Marcello Bonfè",
"Cristian Secchi"
] | In this paper we present a novel strategy for motion planning of autonomous robotic arms in Robotic Minimally Invasive Surgery (R-MIS). We consider a scenario where several laparoscopic tools must move and coordinate in a shared environment. The motion planner is based on a Model Predictive Controller (MPC) that predicts the future behavior of the robots and allows to move them avoiding collisions... |
Simultaneous Trajectory Optimization and Force Control with Soft Contact Mechanics | https://ieeexplore.ieee.org/document/9341030/ | [
"Lasitha Wijayarathne",
"Qie Sima",
"Ziyi Zhou",
"Ye Zhao",
"Frank L. Hammond",
"Lasitha Wijayarathne",
"Qie Sima",
"Ziyi Zhou",
"Ye Zhao",
"Frank L. Hammond"
] | Force modulation of robotic manipulators has been extensively studied for several decades but is not yet commonly used in safety-critical applications due to a lack of accurate interaction contact modeling and weak performance guarantees - a large proportion of them concerning the modulation of interaction forces. This study presents a high-level framework for simultaneous trajectory optimization ... |
Towards the Development of a Robotic Transcatheter Delivery System for Mitral Valve Implant | https://ieeexplore.ieee.org/document/9341551/ | [
"Namrata Nayar",
"Seokhwan Jeong",
"Jaydev P. Desai",
"Namrata Nayar",
"Seokhwan Jeong",
"Jaydev P. Desai"
] | Mitral regurgitation is one of the most common heart diseases caused by ventricular dysfunction or anatomic abnormality of the mitral valve. The fundamental treatment for mitral regurgitation is to repair/replace the mitral valve through open-heart surgery which is risky and requires more time to recover or through minimally invasive approaches, which have significant challenges and limitations. T... |
Design and Modeling of a Parallel Shifted-Routing Cable-Driven Continuum Manipulator for Endometrial Regeneration Surgery | https://ieeexplore.ieee.org/document/9341533/ | [
"Jianhua Li",
"Yuanyuan Zhou",
"Jichun Tan",
"Zhidong Wang",
"Hao Liu",
"Jianhua Li",
"Yuanyuan Zhou",
"Jichun Tan",
"Zhidong Wang",
"Hao Liu"
] | Endometrial regeneration surgery is a new therapy for intrauterine adhesion (IUA). However, existing instruments lacking dexterity and compliance are with difficulty to successfully perform the tasks of generating transplant wounds and transplanting stem cells during endometrial regeneration surgery. This paper presents a novel shifted-routing continuum manipulator which is driven by only two cabl... |
Intermittent Insertion Control Method with Fine Needle for Adapting Lung Deformation due to Breathing Motion | https://ieeexplore.ieee.org/document/9340819/ | [
"Ryosuke Tsumura",
"Kaoru Kakima",
"Hiroyasu Iwata",
"Ryosuke Tsumura",
"Kaoru Kakima",
"Hiroyasu Iwata"
] | Fine needle insertions into a lung are challenging in terms of the needle deflection due to the breathing motion. Although previous related works neglected the effect for the needle deflection due to the breathing motion by patients stopping the breath during the insertion, they have to suffer from the discomfort. This paper proposes the intermittent insertion control method to decrease needle def... |
Resultant Radius of Curvature of Stylet-and-Tube Steerable Needles Based on the Mechanical Properties of the Soft Tissue, and the Needle | https://ieeexplore.ieee.org/document/9341734/ | [
"Fan Yang",
"Mahdieh Babaiasl",
"Yao Chen",
"Jow-Lian Ding",
"John P. Swensen",
"Fan Yang",
"Mahdieh Babaiasl",
"Yao Chen",
"Jow-Lian Ding",
"John P. Swensen"
] | Steerable needles have been widely researched in recent years, and they have multiple potential roles in the medical area. The flexibility and capability of avoiding obstacles allow the steerable needles to be applied in the biopsy, drug delivery and other medical applications that require a high degree of freedom and control accuracy. Radius of Curvature (ROC) of the needle while inserting in the... |
Design of a new electroactive polymer based continuum actuator for endoscopic surgical robots | https://ieeexplore.ieee.org/document/9341204/ | [
"Q. JACQUEMIN",
"Q. SUN",
"D. THUAU",
"E. MONTEIRO",
"S. TENCE-GIRAULT",
"N. MECHBAL",
"Q. JACQUEMIN",
"Q. SUN",
"D. THUAU",
"E. MONTEIRO",
"S. TENCE-GIRAULT",
"N. MECHBAL"
] | This paper presents a smart continuum actuator based on a promising class of materials: ElectroActive polymer (EAP). Indeed these polymers undergo dimensional change in response to an applied electrical field and could be integrated directly in an endoscopic robot structure. We focuses on one of such materials, an electrostrictive polymer, for its valuable strain performances. An analytical model ... |
Analysis of Contact Stability and Contact Safety of a Robotic Intravascular Cardiac Catheter under Blood Flow Disturbances | https://ieeexplore.ieee.org/document/9341527/ | [
"Ran Hao",
"Nate Lombard Poirot",
"M. Cenk Çavuşoğlu",
"Ran Hao",
"Nate Lombard Poirot",
"M. Cenk Çavuşoğlu"
] | This paper studies the contact stability and contact safety of a robotic intravascular cardiac catheter under blood flow disturbances while in contact with tissue surface. A probabilistic blood flow disturbance model, where the blood flow drag forces on the catheter body are approximated using a quasi-static model, is introduced. Using this blood flow disturbance model, probabilistic contact stabi... |
Optimal Pose Estimation Method for a Multi-Segment, Programmable Bevel-Tip Steerable Needle | https://ieeexplore.ieee.org/document/9340847/ | [
"Alberto Favaro",
"Riccardo Secoli",
"Ferdinando Rodriguez y Baena",
"Elena De Momi",
"Alberto Favaro",
"Riccardo Secoli",
"Ferdinando Rodriguez y Baena",
"Elena De Momi"
] | Needle pose tracking is fundamental to achieve a precise and safe insertion in minimally-invasive percutaneous interventions. In this work, a method for estimating the full pose of steerable needles is presented, considering a four-segment Programmable Bevel-Tip Needle (PBN) as a case study. The method estimates also the torsion of the needle that can arise during the insertion because of the inte... |
Enhanced tracking wall: A real-time computing method for needle injection on haptic simulators | https://ieeexplore.ieee.org/document/9341642/ | [
"Ma. Alamilla-Daniel",
"Richard Moreau",
"Redarce Tanneguy",
"Ma. Alamilla-Daniel",
"Richard Moreau",
"Redarce Tanneguy"
] | Haptic simulators can help medical students to train and improve their skills before practicing with a real patient. However, the vast majority of needle insertion haptic simulators are based on sophisticated models that are accurate but highly demanding in computing resources. Most of them do not provide haptic feedback and/or are not suitable for haptic control due to their computing time. In th... |
Soft Tissue Simulation Environment to Learn Manipulation Tasks in Autonomous Robotic Surgery | https://ieeexplore.ieee.org/document/9341710/ | [
"Eleonora Tagliabue",
"Ameya Pore",
"Diego Dall’Alba",
"Enrico Magnabosco",
"Marco Piccinelli",
"Paolo Fiorini",
"Eleonora Tagliabue",
"Ameya Pore",
"Diego Dall’Alba",
"Enrico Magnabosco",
"Marco Piccinelli",
"Paolo Fiorini"
] | Reinforcement Learning (RL) methods have demonstrated promising results for the automation of subtasks in surgical robotic systems. Since many trial and error attempts are required to learn the optimal control policy, RL agent training can be performed in simulation and the learned behavior can be then deployed in real environments. In this work, we introduce an open-source simulation environment ... |
Anatomical Mesh-Based Virtual Fixtures for Surgical Robots | https://ieeexplore.ieee.org/document/9341590/ | [
"Zhaoshuo Li",
"Alex Gordon",
"Thomas Looi",
"James Drake",
"Christopher Forrest",
"Russell H. Taylor",
"Zhaoshuo Li",
"Alex Gordon",
"Thomas Looi",
"James Drake",
"Christopher Forrest",
"Russell H. Taylor"
] | This paper presents a dynamic constraint formulation to provide protective virtual fixtures of 3D anatomical structures from polygon mesh representations. The proposed approach can anisotropically limit the tool motion of surgical robots without any assumption of the local anatomical shape close to the tool. Using a bounded search strategy and Principle Directed tree, the proposed system can run e... |
Auditory Feedback Effectiveness for Enabling Safe Sclera Force in Robot-Assisted Vitreoretinal Surgery: a Multi-User Study | https://ieeexplore.ieee.org/document/9341350/ | [
"Ali Ebrahimi",
"Marina Roizenblatt",
"Niravkumar Patel",
"Peter Gehlbach",
"Iulian Iordachita",
"Ali Ebrahimi",
"Marina Roizenblatt",
"Niravkumar Patel",
"Peter Gehlbach",
"Iulian Iordachita"
] | Robot-assisted retinal surgery has become increasingly prevalent in recent years in part due to the potential for robots to help surgeons improve the safety of an immensely delicate and difficult set of tasks. The integration of robots into retinal surgery has resulted in diminished surgeon perception of tool-to-tissue interaction forces due to robot's stiffness. The tactile perception of these in... |
FlexiVision: Teleporting the Surgeon’s Eyes via Robotic Flexible Endoscope and Head-Mounted Display | https://ieeexplore.ieee.org/document/9340716/ | [
"Long Qian",
"Chengzhi Song",
"Yiwei Jiang",
"Qi Luo",
"Xin Ma",
"Philip Waiyan Chiu",
"Zheng Li",
"Peter Kazanzides",
"Long Qian",
"Chengzhi Song",
"Yiwei Jiang",
"Qi Luo",
"Xin Ma",
"Philip Waiyan Chiu",
"Zheng Li",
"Peter Kazanzides"
] | A flexible endoscope introduces more dexterity to the image capturing in endoscopic surgery. However, manual control or automatic control based on instrument tracking does not handle the misorientation between the endoscopic video and the surgeon. We propose an automatic flexible endoscope control method that tracks the surgeon's head with respect to the object in the surgical scene. The robotic f... |
An Obstacle-crossing Strategy Based on the Fast Self-reconfiguration for Modular Sphere Robots | https://ieeexplore.ieee.org/document/9341162/ | [
"Haobo Luo",
"Ming Li",
"Guangqi Liang",
"Huihuan Qian",
"Tin Lun Lam",
"Haobo Luo",
"Ming Li",
"Guangqi Liang",
"Huihuan Qian",
"Tin Lun Lam"
] | This paper introduces an obstacle-crossing strategy, and the self-reconfiguration algorithm for a new class of modular robots called the rolling sphere, which can fit obstacles represented by cubes of different sizes due to the chain connection of multiple spheres. For the self-reconfiguration of the rolling spheres, a large gradient is obtained by classifying its action types and hierarchically m... |
A Unique Identifier Assignment Method for Distributed Modular Robots | https://ieeexplore.ieee.org/document/9341515/ | [
"Joseph Assaker",
"Abdallah Makhoul",
"Julien Bourgeois",
"Jacques Demerjian",
"Joseph Assaker",
"Abdallah Makhoul",
"Julien Bourgeois",
"Jacques Demerjian"
] | Modular robots are autonomous systems with variable morphology, composed of independent connected computational elements, called particles or modules. Due to critical resource constraints and limited capabilities, globally unique identifier (ID) assignment to each particle is a very challenging task in modular robots. However, having a unique ID in each one remains essential for various operations... |
Self-reconfiguration planning of adaptive modular robots with triangular structure based on extended binary trees | https://ieeexplore.ieee.org/document/9341300/ | [
"Michael Gerbl",
"Johannes Gerstmayr",
"Michael Gerbl",
"Johannes Gerstmayr"
] | In this paper, we present a novel description for the configuration space of adaptive modular robots with a triangular structure based on extended binary trees. In general, binary trees can serve as a representation of kinematic trees with a maximum of two immediate descendants per element. Kinematic loops are incorporated in the tree structure by an ingenious extension of the binary tree indices.... |
Linear Distributed Clustering Algorithm for Modular Robots Based Programmable Matter | https://ieeexplore.ieee.org/document/9341032/ | [
"Jad Bassil",
"Mohamad Moussa",
"Abdallah Makhoul",
"Benoît Piranda",
"Julien Bourgeois",
"Jad Bassil",
"Mohamad Moussa",
"Abdallah Makhoul",
"Benoît Piranda",
"Julien Bourgeois"
] | Modular robots are defined as autonomous kinematic machines with variable morphology. They are composed of several thousands or even millions of modules which are able to coordinate in order to behave intelligently. Clustering the modules in modular robots has many benefits, including scalability, energy-efficiency, reducing communication delay and improving the self-configuration processes that f... |
Magnetically Programmable Cuboids for 2D Locomotion and Collaborative Assembly | https://ieeexplore.ieee.org/document/9341022/ | [
"Louis William Rogowski",
"Anuruddha Bhattacharjee",
"Xiao Zhang",
"Gokhan Kararsiz",
"Henry C. Fu",
"Min Jun Kim",
"Louis William Rogowski",
"Anuruddha Bhattacharjee",
"Xiao Zhang",
"Gokhan Kararsiz",
"Henry C. Fu",
"Min Jun Kim"
] | The modular assembly and actuation of 3D printed milliscale cuboid robots using a globally applied magnetic field is presented. Cuboids are composed of a rectangular resin shell embedded with two spherical permanent magnets that can independently align with any applied magnetic field. Placing cuboids within short distances of each other allows for modular assembly and disassembly by changing magne... |
An untethered soft cellular robot with variable volume, friction, and unit-to-unit cohesion | https://ieeexplore.ieee.org/document/9341351/ | [
"Matthew R. Devlin",
"Brad T. Young",
"Nicholas D. Naclerio",
"David A. Haggerty",
"Elliot W. Hawkes",
"Matthew R. Devlin",
"Brad T. Young",
"Nicholas D. Naclerio",
"David A. Haggerty",
"Elliot W. Hawkes"
] | A fundamental challenge in the field of modular and collective robots is balancing the trade-off between unit-level simplicity, which allows scalability, and unit-level functionality, which allows meaningful behaviors of the collective. At the same time, a challenge in the field of soft robotics is creating untethered systems, especially at a large scale with many controlled degrees of freedom (DO... |
FireAnt3D: a 3D self-climbing robot towards non-latticed robotic self-assembly | https://ieeexplore.ieee.org/document/9341116/ | [
"Petras Swissler",
"Michael Rubenstein",
"Petras Swissler",
"Michael Rubenstein"
] | Robotic self-assembly allows robots to join to form useful, on-demand structures. Unfortunately, the methods employed by most self-assembling robotic swarms compromise this promise of adaptability through their use of fixed docking locations, which impair a swarm's ability to handle imperfections in the structural lattice resulting from load deflection or imperfect robot manufacture; these concern... |
Bayesian Particles on Cyclic Graphs | https://ieeexplore.ieee.org/document/9341061/ | [
"Ana Pervan",
"Todd D. Murphey",
"Ana Pervan",
"Todd D. Murphey"
] | We consider the problem of designing synthetic cells to achieve a complex goal (e.g., mimicking the immune system by seeking invaders) in a complex environment (e.g., the circulatory system), where they might have to change their control policy, communicate with each other, and deal with stochasticity including false positives and negatives-all with minimal capabilities and only a few bits of memo... |
Mechanical Design and Preliminary Performance Evaluation of a Passive Arm-support Exoskeleton | https://ieeexplore.ieee.org/document/9341290/ | [
"Zihao Du",
"Zefeng Yan",
"Tiantian Huang",
"Zhengguang Zhang",
"Ziquan Zhang",
"Ou Bai",
"Qin Huang",
"Bin Han",
"Zihao Du",
"Zefeng Yan",
"Tiantian Huang",
"Zhengguang Zhang",
"Ziquan Zhang",
"Ou Bai",
"Qin Huang",
"Bin Han"
] | In this study, a passive arm-support exoskeleton was designed to provide assistive aid for manufacturing workers. The exoskeleton has two operating states which can be altered using an unique ratchet bar mechanism with two blocks fixed on the ratchet bar. When the upper arm is elevated to the highest poiont, the pawl module will touch the lower block to allow the pawl separated, so that the arm ca... |
Analysis, Development and Evaluation of Electro-Hydrostatic Technology for Lower Limb Prostheses Applications | https://ieeexplore.ieee.org/document/9341512/ | [
"Federico Tessari",
"Renato Galluzzi",
"Andrea Tonoli",
"Nicola Amati",
"Matteo Laffranchi",
"Lorenzo De Michieli",
"Federico Tessari",
"Renato Galluzzi",
"Andrea Tonoli",
"Nicola Amati",
"Matteo Laffranchi",
"Lorenzo De Michieli"
] | This paper presents electro-hydrostatic actuation as a valid substitute of electro-mechanical devices for powered knee prostheses. The work covers the design of a test rig exploiting linear electro-hydrostatic actuation. Typical control laws for prosthesis actuators are discussed, implemented and validated experimentally. Particularly, this work focuses on position and admittance control syntheses... |
On the use of (lockable) parallel elasticity in active prosthetic ankles | https://ieeexplore.ieee.org/document/9341679/ | [
"Joost Geeroms",
"Louis Flynn",
"Vincent Ducastel",
"Bram Vanderborght",
"Dirk Lefeber",
"Joost Geeroms",
"Louis Flynn",
"Vincent Ducastel",
"Bram Vanderborght",
"Dirk Lefeber"
] | New challenges arise when investigating the use of active prostheses for lower limb replacement, such as high motor power requirements, leading to increased weight and reduced autonomy. Series and parallel elasticity are often explored to reduce the necessary motor power but often the effect on the energy consumption of the prosthesis is not directly investigated, as the mechanical power propertie... |
Operational Space Formulation and Inverse Kinematics for an Arm Exoskeleton with Scapula Rotation | https://ieeexplore.ieee.org/document/9341307/ | [
"Craig Carignan",
"Daniil Gribok",
"Tuvia Rappaport",
"Natalie Condzal",
"Craig Carignan",
"Daniil Gribok",
"Tuvia Rappaport",
"Natalie Condzal"
] | The operational space of an 8-axis arm exoskeleton is partitioned into "tasks" based on the human arm motion, and a task priority approach is implemented to perform the inverse kinematics. The tasks are prioritized in the event that singularities or other constraints such as joint limits render the full desired operational space infeasible. The task reconstruction method is used to circumvent sing... |
Kinematic Optimization of an Underactuated Anthropomorphic Prosthetic Hand | https://ieeexplore.ieee.org/document/9341640/ | [
"Ann Marie Votta",
"Sezen Yağmur Günay",
"Brian Zylich",
"Erik Skorina",
"Raagini Rameshwar",
"Deniz Erdoğmuş",
"Cagdas D. Onal",
"Ann Marie Votta",
"Sezen Yağmur Günay",
"Brian Zylich",
"Erik Skorina",
"Raagini Rameshwar",
"Deniz Erdoğmuş",
"Cagdas D. Onal"
] | The human hand serves as an inspiration for robotic grippers. However, the dimensions of the human hand evolved under a different set of constraints and requirements than that of robots today. This paper discusses a method of kinematically optimizing the design of an anthropomorphic robotic hand. We focus on maximizing the workspace intersection of the thumb and the other fingers as well as maximi... |
A Novel Inverse Kinematics Method for Upper-Limb Exoskeleton under Joint Coordination Constraints | https://ieeexplore.ieee.org/document/9341686/ | [
"Stefano Dalla Gasperina",
"Keya Ghonasgi",
"Ana C. de Oliveira",
"Marta Gandolla",
"Alessandra Pedrocchi",
"Ashish Deshpande",
"Stefano Dalla Gasperina",
"Keya Ghonasgi",
"Ana C. de Oliveira",
"Marta Gandolla",
"Alessandra Pedrocchi",
"Ashish Deshpande"
] | In this study, we address the inverse kinematics problem for an upper-limb exoskeleton by presenting a novel method that guarantees the satisfaction of joint-space constraints, and solves closed-chain mechanisms in a serial robot configuration. Starting from the conventional differential kinematics method based on the inversion of the Jacobian matrix, we describe and test two improved algorithms b... |
Adaptive Gait Pattern Generation of a Powered Exoskeleton by Iterative Learning of Human Behavior | https://ieeexplore.ieee.org/document/9340920/ | [
"Kyeong-Won Park",
"Jeongsu Park",
"Jungsu Choi",
"Kyoungchul Kong",
"Kyeong-Won Park",
"Jeongsu Park",
"Jungsu Choi",
"Kyoungchul Kong"
] | Several powered exoskeletons have been developed and commercialized to assist people with complete spinal cord injury. For motion control of a powered exoskeleton, a normal gait pattern is often applied as a reference. However, the physical ability of paraplegics and the degrees of freedom of powered exoskeletons are totally different from those of people without disabilities. Therefore, this pape... |
Gait Training Robot with Intermittent Force Application based on Prediction of Minimum Toe Clearance | https://ieeexplore.ieee.org/document/9341418/ | [
"Tamon Miyake",
"Masakatsu G Fujie",
"Shigeki Sugano",
"Tamon Miyake",
"Masakatsu G Fujie",
"Shigeki Sugano"
] | Adaptive assistance of gait training robots has been determined to improve gait performance through motion assistance. An important control role during walking is to avoid tripping by controlling minimum toe clearance (MTC), which is an indicator of tripping risk, to avoid its decrease among gait cycles. No conventional gait training robots can adjust assistance timing based on MTC. In this paper,... |
Human Preference-Based Learning for High-dimensional Optimization of Exoskeleton Walking Gaits | https://ieeexplore.ieee.org/document/9341416/ | [
"Maegan Tucker",
"Myra Cheng",
"Ellen Novoseller",
"Richard Cheng",
"Yisong Yue",
"Joel W. Burdick",
"Aaron D. Ames",
"Maegan Tucker",
"Myra Cheng",
"Ellen Novoseller",
"Richard Cheng",
"Yisong Yue",
"Joel W. Burdick",
"Aaron D. Ames"
] | Optimizing lower-body exoskeleton walking gaits for user comfort requires understanding users' preferences over a high-dimensional gait parameter space. However, existing preference-based learning methods have only explored low-dimensional domains due to computational limitations. To learn user preferences in high dimensions, this work presents LINECOSPAR, a human-in-the-loop preference-based fram... |
The personalization of stiffness for an ankle-foot prosthesis emulator using Human-in-the-loop optimization | https://ieeexplore.ieee.org/document/9341101/ | [
"Tin-Chun Wen",
"Michael Jacobson",
"Xingyuan Zhou",
"Hyun-Joon Chung",
"Myunghee Kim",
"Tin-Chun Wen",
"Michael Jacobson",
"Xingyuan Zhou",
"Hyun-Joon Chung",
"Myunghee Kim"
] | Evidence suggests that the metabolic cost associated with the locomotive activity of walking is dependent upon ankle stiffness. This stiffness can be a control parameter in an ankle-foot prosthesis. Considering unique physical interaction between each individual with below-knee amputation and robotic ankle-foot prosthesis, individually tuned stiffness in a robotic ankle-foot prosthesis may improve... |
Improving Low-Level Control of the Exoskeleton Atalante in Single Support by Compensating Joint Flexibility | https://ieeexplore.ieee.org/document/9340900/ | [
"Matthieu Vigne",
"Antonio El Khoury",
"Florent Di Meglio",
"Nicolas Petit",
"Matthieu Vigne",
"Antonio El Khoury",
"Florent Di Meglio",
"Nicolas Petit"
] | This paper describes a novel low-level controller for the lower-limb exoskeleton Atalante. The controller implemented on the commercialized product Atalante works under the assumption of full rigidity, performing position control through decentralized joint PIDs. However, this controller is unable to tackle the presence of flexibilities in the system, which cause static errors and undesired oscill... |
Application of Interacting Models to Estimate the Gait Speed of an Exoskeleton User | https://ieeexplore.ieee.org/document/9341110/ | [
"Roopak M. Karulkar",
"Patrick M. Wensing",
"Roopak M. Karulkar",
"Patrick M. Wensing"
] | This paper outlines steps toward a framework for model-based user intent detection to enable fluent human-robot interaction in assistive exoskeletons. An interacting multi-model (IMM) estimation scheme is presented to address state estimation for lower-extremity exoskeletons and to handle their hybrid dynamics. The proposed IMM scheme includes new approaches that enable it to estimate states of hy... |
A New Delayless Adaptive Oscillator for Gait Assistance | https://ieeexplore.ieee.org/document/9341375/ | [
"Tao Xue",
"Ziwei Wang",
"Tao Zhang",
"Ou Bai",
"Meng Zhang",
"Bin Han",
"Tao Xue",
"Ziwei Wang",
"Tao Zhang",
"Ou Bai",
"Meng Zhang",
"Bin Han"
] | To obtain synchronized gait assistance, this paper presents a new delayless adaptive dual-oscillator (ADO) scheme to address the inherent delay issue. In the ADO structure, a new oscillator is coupled with the primitive one but the phase is adaptively feed-forward compensated. It’s remarkable that the compensated phase is determined by the proposed extended phase lag observer, in which both the ph... |
Walking Human Trajectory Models and Their Application to Humanoid Robot Locomotion | https://ieeexplore.ieee.org/document/9341118/ | [
"I. Maroger",
"O. Stasse",
"B. Watier",
"I. Maroger",
"O. Stasse",
"B. Watier"
] | In order to fluidly perform complex tasks in collaboration with a human being, such as table handling, a humanoid robot has to recognize and adapt to human movements. To achieve such goals, a realistic model of the human locomotion that is computable on a robot is needed. In this paper, we focus on making a humanoid robot follow a human-like locomotion path. We mainly present two models of human w... |
Robust Gait Synthesis Combining Constrained Optimization and Imitation Learning | https://ieeexplore.ieee.org/document/9341146/ | [
"Jiatao Ding",
"Xiaohui Xiao",
"Nikos Tsagarakis",
"Yanlong Huang",
"Jiatao Ding",
"Xiaohui Xiao",
"Nikos Tsagarakis",
"Yanlong Huang"
] | Despite plenty of motion planning strategies have been proposed for bipedal locomotion, enhancing the walking robustness in real-world environments is still an open question. This paper focuses on robust body and leg trajectories synthesis through integrating constrained optimization with imitation learning. Specifically, we first propose a Quadratically Constrained Quadratic Programming (QCQP) al... |
Core-centered Actuation for Biped Locomotion of Humanoid Robots | https://ieeexplore.ieee.org/document/9341364/ | [
"Caleb Fuller",
"Umer Huzaifa",
"Amy LaViers",
"Joshua Schultz",
"Caleb Fuller",
"Umer Huzaifa",
"Amy LaViers",
"Joshua Schultz"
] | In this paper we examine a novel method of core-located actuation that we believe can be used to vary gaits in a compass-gait walker, using critical analysis of a ball-in-tray mechanism to apply forces at the robot's "pelvis". The dynamic equations of motion of a tilting ball-tray system with several design parameters are developed and simulated for various tray designs. Results show that changes ... |
Design and Control of SLIDER: An Ultra-lightweight, Knee-less, Low-cost Bipedal Walking Robot | https://ieeexplore.ieee.org/document/9341143/ | [
"Ke Wang",
"David Marsh",
"Roni Permana Saputra",
"Digby Chappell",
"Zhonghe Jiang",
"Akshay Raut",
"Bethany Kon",
"Petar Kormushev",
"Ke Wang",
"David Marsh",
"Roni Permana Saputra",
"Digby Chappell",
"Zhonghe Jiang",
"Akshay Raut",
"Bethany Kon",
"Petar Kormushev"
] | Most state-of-the-art bipedal robots are designed to be anthropomorphic and therefore possess legs with knees. Whilst this facilitates more human-like locomotion, there are implementation issues that make walking with straight or near-straight legs difficult. Most bipedal robots have to move with a constant bend in the legs to avoid singularities at the knee joints, and to keep the centre of mass ... |
Stable Crawling Policy for Wearable SuperLimbs Attached to a Human with Tuned Impedance | https://ieeexplore.ieee.org/document/9341461/ | [
"Phillip H. Daniel",
"Harry H. Asada",
"Phillip H. Daniel",
"Harry H. Asada"
] | A control algorithm that allows a human model to crawl using a pair of supernumerary robotic limbs (SuperLimbs) is presented. The human model and SuperLimbs are coupled by a compliant harness. This work is inspired by the need for wearable robotic systems that can support workers engaged in fatiguing tasks. The walking policy is developed based on Lyapunov analysis. The volume of the region of att... |
Lyapunov-based Approach to Reactive Step Generation for Push Recovery of Biped Robots via Hybrid Tracking Control of DCM | https://ieeexplore.ieee.org/document/9341319/ | [
"Gyunghoon Park",
"Jung Hoon Kim",
"Joonhee Jo",
"Yonghwan Oh",
"Gyunghoon Park",
"Jung Hoon Kim",
"Joonhee Jo",
"Yonghwan Oh"
] | This paper addresses reactive generation of step time and location of biped robots for balance recovery against a severe push. Key idea is to reformulate the balance recovery problem into a tracking problem for "hybrid" inverted pendulum model of the biped, where taking a new step implicitly yields a discrete jump of the tracking error. This interpretation offers a Lyapunov-based approach to react... |
Sequential Motion Planning for Bipedal Somersault via Flywheel SLIP and Momentum Transmission with Task Space Control | https://ieeexplore.ieee.org/document/9341467/ | [
"Xiaobin Xiong",
"Aaron D. Ames",
"Xiaobin Xiong",
"Aaron D. Ames"
] | In this paper, we present a sequential motion planning and control method for generating somersaults on bipedal robots. The somersault (backflip or frontflip) is considered as a coupling between an axile hopping motion and a rotational motion about the center of mass of the robot; these are encoded by a hopping Spring-loaded Inverted Pendulum (SLIP) model and the rotation of a Flywheel, respective... |
A Compliance Control Method Based on Viscoelastic Model for Position-Controlled Humanoid Robots | https://ieeexplore.ieee.org/document/9340831/ | [
"Qingqing Li",
"Zhangguo Yu",
"Xuechao Chen",
"Libo Meng",
"Qiang Huang",
"Chenglong Fu",
"Ken Chen",
"Chunjing Tao",
"Qingqing Li",
"Zhangguo Yu",
"Xuechao Chen",
"Libo Meng",
"Qiang Huang",
"Chenglong Fu",
"Ken Chen",
"Chunjing Tao"
] | Compliance is important for humanoid robots, especially a position-controlled one, to perform tasks in complicated environments where unexpected or sudden contacts will result in large impacts which may cause instability or destroy the hardware of robots. This paper presents a compliance control method based on viscoelastic model for humanoid robots to survive on these conditions. The viscoelastic... |
Impedance Control of Humanoid Walking on Uneven Terrain With Centroidal Momentum Dynamics Using Quadratic Programming | https://ieeexplore.ieee.org/document/9340799/ | [
"Joonhee Jo",
"Yonghwan Oh",
"Joonhee Jo",
"Yonghwan Oh"
] | In this paper, we propose the stabilization strategy for a soft landing in a biped walking using impedance control and the optimization-based whole-body control framework. Even though proper contact forces and desired trajectories of the robot are given, the robot can be unstable easily if unexpected forces are applied to the robot or impulsive contact force is produced in the landing state while ... |
Vision-based Belt Manipulation by Humanoid Robot | https://ieeexplore.ieee.org/document/9341174/ | [
"Yili Qin",
"Adrien Escande",
"Arnaud Tanguy",
"Eiichi Yoshida",
"Yili Qin",
"Adrien Escande",
"Arnaud Tanguy",
"Eiichi Yoshida"
] | Deformable objects are very common around us in our daily life. Because they have infinitely many degrees of freedom, they present a challenging problem in robotics. Inspired by practical industrial applications, we present in this paper our research on using a humanoid robot to take a long, thin and flexible belt out of a bobbin and pick up the bending part of the belt from the ground. By proposi... |
Enabling Remote Whole-Body Control with 5G Edge Computing | https://ieeexplore.ieee.org/document/9341113/ | [
"Huaijiang Zhu",
"Manali Sharma",
"Kai Pfeiffer",
"Marco Mezzavilla",
"Jia Shen",
"Sundeep Rangan",
"Ludovic Righetti",
"Huaijiang Zhu",
"Manali Sharma",
"Kai Pfeiffer",
"Marco Mezzavilla",
"Jia Shen",
"Sundeep Rangan",
"Ludovic Righetti"
] | Real-world applications require light-weight, energy-efficient, fully autonomous robots. Yet, increasing autonomy is oftentimes synonymous with escalating computational requirements. It might thus be desirable to offload intensive computation—not only sensing and planning, but also low-level whole-body control—to remote servers in order to reduce on-board computational needs. Fifth Generation (5G)... |
Exceeding the Maximum Speed Limit of the Joint Angle for the Redundant Tendon-driven Structures of Musculoskeletal Humanoids | https://ieeexplore.ieee.org/document/9341510/ | [
"Kento Kawaharazuka",
"Yuya Koga",
"Kei Tsuzuki",
"Moritaka Onitsuka",
"Yuki Asano",
"Kei Okada",
"Koji Kawasaki",
"Masayuki Inaba",
"Kento Kawaharazuka",
"Yuya Koga",
"Kei Tsuzuki",
"Moritaka Onitsuka",
"Yuki Asano",
"Kei Okada",
"Koji Kawasaki",
"Masayuki Inaba"
] | The musculoskeletal humanoid has various biomimetic benefits, and the redundant muscle arrangement is one of its most important characteristics. This redundancy can achieve fail-safe redundant actuation and variable stiffness control. However, there is a problem that the maximum joint angle velocity is limited by the slowest muscle among the redundant muscles. In this study, we propose two methods... |
Three-Dimensional Posture Optimization for Biped Robot Stepping over Large Ditch Based on a Ducted-Fan Propulsion System | https://ieeexplore.ieee.org/document/9340714/ | [
"Zhifeng Huang",
"Zijun Wang",
"Jiapeng Wei",
"Jingtao Yu",
"Yuhao Zhou",
"Pihao Lao",
"Xiaoliang Huang",
"Xuexi Zhang",
"Yun Zhang",
"Zhifeng Huang",
"Zijun Wang",
"Jiapeng Wei",
"Jingtao Yu",
"Yuhao Zhou",
"Pihao Lao",
"Xiaoliang Huang",
"Xuexi Zhang",
"Yun Zhang"
] | The recent progress of an ongoing project utilizing a ducted-fan propulsion system to improve a humanoid robot's ability to step over large ditches is reported. A novel method (GAS) based on the genetic algorithm with smoothness constraint can effectively minimize the thrust by optimizing the robot's posture during 3D stepping. The significant advantage of the method is that it can realize the con... |
Applications of Stretch Reflex for the Upper Limb of Musculoskeletal Humanoids: Protective Behavior, Postural Stability, and Active Induction | https://ieeexplore.ieee.org/document/9341488/ | [
"Kento Kawaharazuka",
"Yuya Koga",
"Kei Tsuzuki",
"Moritaka Onitsuka",
"Yuki Asano",
"Kei Okada",
"Koji Kawasaki",
"Masayuki Inaba",
"Kento Kawaharazuka",
"Yuya Koga",
"Kei Tsuzuki",
"Moritaka Onitsuka",
"Yuki Asano",
"Kei Okada",
"Koji Kawasaki",
"Masayuki Inaba"
] | The musculoskeletal humanoid has various biomimetic benefits, and it is important that we can embed and evaluate human reflexes in the actual robot. Although stretch reflex has been implemented in lower limbs of musculoskeletal humanoids, we apply it to the upper limb to discover its useful applications. We consider the implementation of stretch reflex in the actual robot, its active/passive appli... |
Fast Tennis Swing Motion by Ball Trajectory Prediction and Joint Trajectory Modification in Standalone Humanoid Robot Real-time System | https://ieeexplore.ieee.org/document/9341796/ | [
"Mirai Hattori",
"Kunio Kojima",
"Shintaro Noda",
"Fumihito Sugai",
"Yohei Kakiuchi",
"Kei Okada",
"Masayuki Inaba",
"Mirai Hattori",
"Kunio Kojima",
"Shintaro Noda",
"Fumihito Sugai",
"Yohei Kakiuchi",
"Kei Okada",
"Masayuki Inaba"
] | In this work, we propose a system for humanoid robot fast motions. When a humanoid robot performs a motion such as a tennis forehand stroke motion, a whole-body fast motion in reaction to visual information is required. There are three problems to tackle. (1) Motion is desired to be quick. (2) Real-time visual processing considering visual noises is needed. (3) Real-time joint angle modification w... |
A Momentum-Based Foot Placement Strategy for Stable Postural Control of Robotic Spring-Mass Running with Point Feet | https://ieeexplore.ieee.org/document/9340980/ | [
"Gorkem Secer",
"Ali Levent Cinar",
"Gorkem Secer",
"Ali Levent Cinar"
] | A long-standing argument in model-based control of locomotion is about the level of complexity that a model should have to define a behavior such as running. Even though a goldilocks model based on biomechanical evidence is often sought, it is unclear what level of complexity qualifies to be such a model. This dilemma deepens further for bipedal robotic running with point feet, since these robots ... |
Nonlinear model predictive control of hopping model using approximate step-to-step models for navigation on complex terrain | https://ieeexplore.ieee.org/document/9340791/ | [
"Ali Zamani",
"Pranav A. Bhounsule",
"Ali Zamani",
"Pranav A. Bhounsule"
] | We consider the motion planning problem of a hopper navigating a terrain comprising stepping stones while optimizing an energy metric. The most widely used approach of discrete searches (e.g., A-star) cannot handle boundary conditions (e.g., end path constraints on position, velocity). However, continuous optimizations can easily deal with the boundary value problem but are not widely used in moti... |
Risk-constrained Motion Planning for Robot Locomotion: Formulation and Running Robot Demonstration | https://ieeexplore.ieee.org/document/9340810/ | [
"Jacob Hackett",
"Wei Gao",
"Monica Daley",
"Jonathan Clark",
"Christian Hubicki",
"Jacob Hackett",
"Wei Gao",
"Monica Daley",
"Jonathan Clark",
"Christian Hubicki"
] | Robots encounter many risks that threaten the success of practical locomotion tasks. Legs break, electrical components overheat, and feet can unexpectedly slip. When all risks cannot be completely avoided, how does a robot decide its best action? We present a method for planning robot motions by reasoning about risk-of-failure probabilities instead of applying cost-penalty functions or inflexible ... |
Evaluating the Efficacy of Parallel Elastic Actuators on High-Speed, Variable Stiffness Running | https://ieeexplore.ieee.org/document/9341263/ | [
"John V. Nicholson",
"Sean Gart",
"Jason Pusey",
"Jonathan E. Clark",
"John V. Nicholson",
"Sean Gart",
"Jason Pusey",
"Jonathan E. Clark"
] | Although they take many forms, legged robots rely upon springs to achieve high speed, dynamic locomotion. In this paper we examine the effect of adding parallel springs to robots that rely on virtual compliance. Specifically, we consider the trade-off between energetic efficiency and leg versatility that comes while using Parallel Elastic Actuators (PEAs). To do this, we vary the ratio of physical... |
Line Walking and Balancing for Legged Robots with Point Feet | https://ieeexplore.ieee.org/document/9341743/ | [
"Carlos Gonzalez",
"Victor Barasuol",
"Marco Frigerio",
"Roy Featherstone",
"Darwin G. Caldwell",
"Claudio Semini",
"Carlos Gonzalez",
"Victor Barasuol",
"Marco Frigerio",
"Roy Featherstone",
"Darwin G. Caldwell",
"Claudio Semini"
] | The ability of legged systems to traverse highly- constrained environments depends by and large on the performance of their motion and balance controllers. This paper presents a controller that excels in a scenario that most state- of-the-art balance controllers have not yet addressed: line walking, or walking on nearly null support regions. Our approach uses a low-dimensional virtual model (2-DoF... |
Haptic Sequential Monte Carlo Localization for Quadrupedal Locomotion in Vision-Denied Scenarios | https://ieeexplore.ieee.org/document/9341128/ | [
"Russell Buchanan",
"Marco Camurri",
"Maurice Fallon",
"Russell Buchanan",
"Marco Camurri",
"Maurice Fallon"
] | Continuous robot operation in extreme scenarios such as underground mines or sewers is difficult because exteroceptive sensors may fail due to fog, darkness, dirt or malfunction. So as to enable autonomous navigation in these kinds of situations, we have developed a type of proprioceptive localization which exploits the foot contacts made by a quadruped robot to localize against a prior map of an ... |
Robust Autonomous Navigation of a Small-Scale Quadruped Robot in Real-World Environments | https://ieeexplore.ieee.org/document/9340701/ | [
"Thomas Dudzik",
"Matthew Chignoli",
"Gerardo Bledt",
"Bryan Lim",
"Adam Miller",
"Donghyun Kim",
"Sangbae Kim",
"Thomas Dudzik",
"Matthew Chignoli",
"Gerardo Bledt",
"Bryan Lim",
"Adam Miller",
"Donghyun Kim",
"Sangbae Kim"
] | Animal-level agility and robustness in robots cannot be accomplished by solely relying on blind locomotion controllers. A significant portion of a robot’s ability to traverse terrain comes from reacting to the external world through visual sensing. However, embedding the sensors and compute that provide sufficient accuracy at high speeds is challenging, especially if the robot has significant spac... |
Rapid Bipedal Gait Optimization in CasADi | https://ieeexplore.ieee.org/document/9341586/ | [
"Martin Fevre",
"Patrick M. Wensing",
"James P. Schmiedeler",
"Martin Fevre",
"Patrick M. Wensing",
"James P. Schmiedeler"
] | This paper shows how CasADi’s state-of-the-art implementation of algorithmic differentiation can be leveraged to formulate and efficiently solve gait optimization problems, enabling rapid gait design for high-dimensional biped robots. Comparative studies on a 7-DOF planar biped show that CasADi generates optimal gaits 4 times faster than another existing advanced optimization package. The framewor... |
Optimisation of Body-ground Contact for Augmenting the Whole-Body Loco-manipulation of Quadruped Robots | https://ieeexplore.ieee.org/document/9341498/ | [
"Wouter J. Wolfslag",
"Christopher McGreavy",
"Guiyang Xin",
"Carlo Tiseo",
"Sethu Vijayakumar",
"Zhibin Li",
"Wouter J. Wolfslag",
"Christopher McGreavy",
"Guiyang Xin",
"Carlo Tiseo",
"Sethu Vijayakumar",
"Zhibin Li"
] | Legged robots have great potential to perform complex loco-manipulation tasks, yet it is challenging to keep the robot balanced while it interacts with the environment. In this paper we investigated the use of additional contact points for maximising the robustness of loco-manipulation motions. Specifically, body-ground contact was studied for its ability to enhance robustness and manipulation cap... |
Development of a Running Hexapod Robot with Differentiated Front and Hind Leg Morphology and Functionality | https://ieeexplore.ieee.org/document/9340811/ | [
"Jia-Ruei Chiu",
"Yu-Chih Huang",
"Hui-Ching Chen",
"Kuan-Yu Tseng",
"Pei-Chun Lin",
"Jia-Ruei Chiu",
"Yu-Chih Huang",
"Hui-Ching Chen",
"Kuan-Yu Tseng",
"Pei-Chun Lin"
] | This article introduces an innovative model-based strategy for designing a legged robot to generate animal-like running dynamics with differentiated leg braking and thrusting force patterns. Linear springs were utilized as legs, but instead of having one end of each spring connected directly to the hip joint, one extra bar was added to offset the spring's direction. The robot's front and hind legs... |
Ultra Low-Cost Printable Folding Robots | https://ieeexplore.ieee.org/document/9340756/ | [
"Saul Schaffer",
"Emily Wang",
"Nathan Cooper",
"Bo Li",
"Zeynep Temel",
"Ozan Akkus",
"Victoria A. Webster-Wood",
"Saul Schaffer",
"Emily Wang",
"Nathan Cooper",
"Bo Li",
"Zeynep Temel",
"Ozan Akkus",
"Victoria A. Webster-Wood"
] | Current techniques in robot design and fabrication are time consuming and costly. Robot designs are needed that facilitate low-cost fabrication techniques and reduce the design to production timeline. Here we present an axial-rotational coupled metastructure that can serve as the functional core of a low-cost 3D printed walking robot. Using an origami-inspired assembly technique, the axial-rotatio... |
Knuckles that buckle: compliant underactuated limbs with joint hysteresis enable minimalist terrestrial robots | https://ieeexplore.ieee.org/document/9341618/ | [
"Mingsong Jiang",
"Rongzichen Song",
"Nick Gravish",
"Mingsong Jiang",
"Rongzichen Song",
"Nick Gravish"
] | Underactuated designs of robot limbs can enable these systems to passively adapt their joint configuration in response to external forces. Passive adaptation and reconfiguration can be extremely beneficial in situations where manipulation or locomotion with complex substrates is required. A common design for underactuated systems often involves a single tendon that actuates multiple rotational joi... |
Animated Cassie: A Dynamic Relatable Robotic Character | https://ieeexplore.ieee.org/document/9340894/ | [
"Zhongyu Li",
"Christine Cummings",
"Koushil Sreenath",
"Zhongyu Li",
"Christine Cummings",
"Koushil Sreenath"
] | Creating robots with emotional personalities will transform the usability of robots in the real-world. As previous emotive social robots are mostly based on statically stable robots whose mobility is limited, this paper develops an animation to real-world pipeline that enables dynamic bipedal robots that can twist, wiggle, and walk to behave with emotions. First, an animation method is introduced ... |
Drive-Train Design in JAXON3-P and Realization of Jump Motions: Impact Mitigation and Force Control Performance for Dynamic Motions | https://ieeexplore.ieee.org/document/9341217/ | [
"Kunio Kojima",
"Yuta Kojio",
"Tatsuya Ishikawa",
"Fumihito Sugai",
"Yohei Kakiuchi",
"Kei Okada",
"Masayuki Inaba",
"Kunio Kojima",
"Yuta Kojio",
"Tatsuya Ishikawa",
"Fumihito Sugai",
"Yohei Kakiuchi",
"Kei Okada",
"Masayuki Inaba"
] | For mitigating joint impact torques, researchers have reduced joint stiffness by series elastic actuators, reflected inertia by low gear ratios, and friction torque from drive-trains. However, these impact mitigation methods may impair the control performance of contact forces or may increase motor and robot mass. This paper proposes a design method for achieving a balance between impact mitigatio... |
A Model for Optimising the Size of Climbing Robots for Navigating Truss Structures | https://ieeexplore.ieee.org/document/9341194/ | [
"Wesley Au",
"Tomoki Sakaue",
"Dikai Liu",
"Wesley Au",
"Tomoki Sakaue",
"Dikai Liu"
] | Truss structures can be found in many buildings and civil infrastructure such as bridges and towers. But as these architectures age, their maintenance is required to keep them structurally sound. A legged robotic solution capable of climbing these structures for maintenance is sought, but determining the size and shape of such a robot to maximise structure coverage is a challenging task. This pape... |
Rapidly Adaptable Legged Robots via Evolutionary Meta-Learning | https://ieeexplore.ieee.org/document/9341571/ | [
"Xingyou Song",
"Yuxiang Yang",
"Krzysztof Choromanski",
"Ken Caluwaerts",
"Wenbo Gao",
"Chelsea Finn",
"Jie Tan",
"Xingyou Song",
"Yuxiang Yang",
"Krzysztof Choromanski",
"Ken Caluwaerts",
"Wenbo Gao",
"Chelsea Finn",
"Jie Tan"
] | Learning adaptable policies is crucial for robots to operate autonomously in our complex and quickly changing world. In this work, we present a new meta-learning method that allows robots to quickly adapt to changes in dynamics. In contrast to gradient-based meta-learning algorithms that rely on second-order gradient estimation, we introduce a more noise-tolerant Batch Hill-Climbing adaptation ope... |
Slope Handling for Quadruped Robots Using Deep Reinforcement Learning and Toe Trajectory Planning | https://ieeexplore.ieee.org/document/9341645/ | [
"Athanasios S. Mastrogeorgiou",
"Yehia S. Elbahrawy",
"Andrés Kecskeméthy",
"Evangelos G. Papadopoulos",
"Athanasios S. Mastrogeorgiou",
"Yehia S. Elbahrawy",
"Andrés Kecskeméthy",
"Evangelos G. Papadopoulos"
] | Quadrupedal locomotion skills are challenging to develop. In recent years, deep Reinforcement Learning promises to automate the development of locomotion controllers and map sensory observations to low-level actions. Moreover, the full robot dynamics model can be exploited, but no model-based simplifications are to be made. In this work, a method for developing controllers for the Laelaps II robot... |
A Neural Primitive model with Sensorimotor Coordination for Dynamic Quadruped Locomotion with Malfunction Compensation | https://ieeexplore.ieee.org/document/9340707/ | [
"Azhar Aulia Saputra",
"Auke Jan Ijspeert",
"Naoyuki Kubota",
"Azhar Aulia Saputra",
"Auke Jan Ijspeert",
"Naoyuki Kubota"
] | In the field of quadruped locomotion, dynamic locomotion behavior, and rich integration with sensory feedback represents a significant development. In this paper, we present an efficient neural model, which includes CPG and its sensorimotor coordination, and demonstrate its implementation in a quadruped robot to show how efficient integration of motor and sensory feedback can generate dynamic beha... |
Spiking Neurons Ensemble for Movement Generation in Dynamically Changing Environments | https://ieeexplore.ieee.org/document/9340721/ | [
"Kaname Favier",
"Shogo Yonekura",
"Yasuo Kuniyoshi",
"Kaname Favier",
"Shogo Yonekura",
"Yasuo Kuniyoshi"
] | Spiking neurons might play a larger role than simply as an efficient signal transmitter. Several studies have demonstrated how movements can be generated using networks of spiking neurons. However, the complexity of spiking neural networks makes their implementation difficult, and the use of spiking neurons in robotics has remained largely impractical. In this paper, we show that the addition of a... |
Learning of Tool Force Adjustment Skills by a Life-sized Humanoid using Deep Reinforcement Learning and Active Teaching Request | https://ieeexplore.ieee.org/document/9341803/ | [
"Yoichiro Kawamura",
"Masaki Murooka",
"Naoki Hiraoka",
"Hideaki Ito",
"Kei Okada",
"Masayuki Inaba",
"Yoichiro Kawamura",
"Masaki Murooka",
"Naoki Hiraoka",
"Hideaki Ito",
"Kei Okada",
"Masayuki Inaba"
] | The purpose of this study is to make life-sized humanoid robots acquire tool manipulation skills that require complicated force adjustment. The difficulty in acquisition of tool manipulation skills comes from the hardship in physical modeling. Recent research have revealed that deep reinforcement learning (DRL), a model-free approach, performs superior in such tasks. However, DRL in general has a ... |
A Model-Free Solution for Stable Balancing and Locomotion of Floating-base Legged Systems | https://ieeexplore.ieee.org/document/9341255/ | [
"Emmanouil Spyrakos-Papastavridis",
"Jian S. Dai",
"Emmanouil Spyrakos-Papastavridis",
"Jian S. Dai"
] | This paper presents novel control techniques for passivation and stabilisation of floating-base systems with contacts, whose dynamical models comprise both joint-space, and Cartesian floating-base coordinates. The aforementioned results are achieved using both minimally model-based, and completely model-free controllers that employ power-shaping signals. Model-free control is permitted through usa... |
Jumping Motion Generation for Humanoid Robot Using Arm Swing Effectively and Changing in Foot Contact Status | https://ieeexplore.ieee.org/document/9341665/ | [
"H. Mineshita",
"T. Otani",
"M. Sakaguchi",
"Y. Kawakami",
"H.O. Lim",
"A. Takanishi",
"H. Mineshita",
"T. Otani",
"M. Sakaguchi",
"Y. Kawakami",
"H.O. Lim",
"A. Takanishi"
] | Human jumping involves not only lower limbs but also whole-body coordination. During jumping, the effect of sinking the center of mass for recoil and arm swing are significant, and they can cause changes in the jump height. However, upper body movements during jumping movements of humanoid robots have not been studied adequately. When jumping involves only the lower limbs, the burden on the lower ... |
Fast Global Motion Planning for Dynamic Legged Robots | https://ieeexplore.ieee.org/document/9341438/ | [
"Joseph Norby",
"Aaron M. Johnson",
"Joseph Norby",
"Aaron M. Johnson"
] | This work presents a motion planning algorithm for legged robots capable of constructing long-horizon dynamic plans in real-time. Many existing methods use models that prohibit flight phases or even require static stability, while those that permit these dynamics often plan over short horizons or take minutes to compute. The algorithm presented here resolves these issues through a reduced-order dy... |
A Multi-Contact Motion Planning and Control Strategy for Physical Interaction Tasks Using a Humanoid Robot | https://ieeexplore.ieee.org/document/9340745/ | [
"Francesco Ruscelli",
"Matteo Parigi Polverini",
"Arturo Laurenzi",
"Enrico Mingo Hoffman",
"Nikos G. Tsagarakis",
"Francesco Ruscelli",
"Matteo Parigi Polverini",
"Arturo Laurenzi",
"Enrico Mingo Hoffman",
"Nikos G. Tsagarakis"
] | This paper presents a framework providing a full pipeline to execute a complex physical interaction behaviour of a humanoid bipedal robot, both from a theoretical and a practical standpoint. Building from a multi-contact control architecture that combines contact planning and reactive force distribution capabilities, the main contribution of this work consists in the integration of a sample-based ... |
Can I lift it? Humanoid robot reasoning about the feasibility of lifting a heavy box with unknown physical properties | https://ieeexplore.ieee.org/document/9340729/ | [
"Yuanfeng Han",
"Ruixin Li",
"Gregory S. Chirikjian",
"Yuanfeng Han",
"Ruixin Li",
"Gregory S. Chirikjian"
] | A robot cannot lift up an object if it is not feasible to do so. However, in most research on robot lifting, "feasibility" is usually presumed to exist a priori. This paper proposes a three-step method for a humanoid robot to reason about the feasibility of lifting a heavy box with physical properties that are unknown to the robot. Since feasibility of lifting is directly related to the physical p... |
Non-Linear Trajectory Optimization for Large Step-Ups: Application to the Humanoid Robot Atlas | https://ieeexplore.ieee.org/document/9341587/ | [
"Stefano Dafarra",
"Sylvain Bertrand",
"Robert J. Griffin",
"Giorgio Metta",
"Daniele Pucci",
"Jerry Pratt",
"Stefano Dafarra",
"Sylvain Bertrand",
"Robert J. Griffin",
"Giorgio Metta",
"Daniele Pucci",
"Jerry Pratt"
] | Performing large step-ups is a challenging task for a humanoid robot. It requires the robot to perform motions at the limit of its reachable workspace while straining to move its body upon the obstacle. This paper presents a non-linear trajectory optimization method for generating step-up motions. We adopt a simplified model of the centroidal dynamics to generate feasible Center of Mass trajectori... |
Online Dynamic Motion Planning and Control for Wheeled Biped Robots | https://ieeexplore.ieee.org/document/9340967/ | [
"Songyan Xin",
"Sethu Vijayakumar",
"Songyan Xin",
"Sethu Vijayakumar"
] | Wheeled-legged robots combine the efficiency of wheeled robots when driving on suitably flat surfaces and versatility of legged robots when stepping over or around obstacles. This paper introduces a planning and control framework to realise dynamic locomotion for wheeled biped robots. We propose the Cart-Linear Inverted Pendulum Model (Cart-LIPM) as a template model for the rolling motion and the ... |
Robust Gait Design Insights from Studying a Compass Gait Biped with Foot Slipping | https://ieeexplore.ieee.org/document/9341356/ | [
"Tan Chen",
"Bill Goodwine",
"Tan Chen",
"Bill Goodwine"
] | Most current bipedal robots were modeled with an assumption that there is no slip between the stance foot and ground. This paper relaxes that assumption and undertakes a comprehensive study of a compass gait biped with foot slipping. It is found that slips are most likely to happen near impact for a broad range of gaits. Among these gaits, ones with a backward swing foot velocity relative to the g... |
Disappearance of chaotic attractor of passive dynamic walking by stretch-bending deformation in basin of attraction | https://ieeexplore.ieee.org/document/9341800/ | [
"Kota Okamoto",
"Shinya Aoi",
"Ippei Obayashi",
"Hiroshi Kokubu",
"Kei Senda",
"Kazuo Tsuchiya",
"Kota Okamoto",
"Shinya Aoi",
"Ippei Obayashi",
"Hiroshi Kokubu",
"Kei Senda",
"Kazuo Tsuchiya"
] | Passive dynamic walking is a model that walks down a shallow slope without any control or input. This model has been widely used to investigate how stable walking is generated from a dynamic viewpoint, which is useful to provide design principles for developing energy-efficient biped robots. However, the basin of attraction is very small and thin, and it has a fractal-like complicated shape. This ... |
Exponentially Stabilizing and Time-Varying Virtual Constraint Controllers for Dynamic Quadrupedal Bounding | https://ieeexplore.ieee.org/document/9341772/ | [
"Joseph B. Martin V",
"Vinay R. Kamidi",
"Abhishek Pandala",
"Randall T. Fawcett",
"Kaveh Akbari Hamed",
"Joseph B. Martin V",
"Vinay R. Kamidi",
"Abhishek Pandala",
"Randall T. Fawcett",
"Kaveh Akbari Hamed"
] | This paper aims to develop time-varying virtual constraint controllers that allow stable and agile bounding gaits for full-order hybrid dynamical models of quadrupedal locomotion. As opposed to state-based nonlinear controllers, time-varying controllers can initiate locomotion from zero velocity. Motivated by this property, we investigate the stability guarantees that can be provided by the time-v... |
Experimental Verification of Vibratory Conveyor System Based on Frequency Entrainment of Limit Cycle Walker | https://ieeexplore.ieee.org/document/9341553/ | [
"Kento Mitsuhashi",
"Masatsugu Nishihara",
"Fumihiko Asano",
"Kento Mitsuhashi",
"Masatsugu Nishihara",
"Fumihiko Asano"
] | The authors have investigated underactuated locomotion robots with an inner wobbling mass, it is discovered that the wobbling mass controls the gait speed by entrainment. Supplying the wobbling from outside, outer wobbling entrains load objects and controls the transferring speed. In this paper, we propose a vibratory conveyor system based on the frequency entrainment of a limit cycle walker. The ... |
Multi-task Control for a Quadruped Robot with Changeable Leg Configuration | https://ieeexplore.ieee.org/document/9340965/ | [
"Linqi Ye",
"Houde Liu",
"Xueqian Wang",
"Bin Liang",
"Bo Yuan",
"Linqi Ye",
"Houde Liu",
"Xueqian Wang",
"Bin Liang",
"Bo Yuan"
] | This paper proposes a multi-task control strategy for a quadruped robot named THU-QUAD II. The mechanical design of the robot ensures a wide range of motion for all joints, which allows it to stand and walk like a mammal as well as sprawl to the ground and crawl like a reptile. Five basic leg configurations are defined for the robot, including four mammal-type configurations with bidirectional kne... |
LLAMA: Design and Control of an Omnidirectional Human Mission Scale Quadrupedal Robot | https://ieeexplore.ieee.org/document/9341492/ | [
"John Nicholson",
"Jay Jasper",
"Ara Kourchians",
"Greg McCutcheon",
"Max Austin",
"Mark Gonzalez",
"Jason Pusey",
"Sisir Karumanchi",
"Christian Hubicki",
"Jonathan Clark",
"John Nicholson",
"Jay Jasper",
"Ara Kourchians",
"Greg McCutcheon",
"Max Austin",
"Mark Gonzalez",
"Jason Pusey",
"Sisir Karumanchi",
"Christian Hubicki",
"Jonathan Clark"
] | This paper describes the design, control and initial experimental results of the quadruped robot LLAMA. Designed to operate in a human-scale world, this 67kg-class, all-electric robot is capable of rapid motion over a variety of terrains. Thanks to a unique leg configuration and custom high-torque, low gear-ratio motors, it can move omnidirectionally at speeds over 1 m/s. A hierarchical reactive c... |
Contact Force Estimation and Regulation of a Position-controlled Floating Base System without Joint Torque Information | https://ieeexplore.ieee.org/document/9340785/ | [
"Guoteng Zhang",
"Shugen Ma",
"Yibin Li",
"Guoteng Zhang",
"Shugen Ma",
"Yibin Li"
] | A floating base system is inevitably to contact the environment while it is moving. This paper explores the contact force estimation and regulation algorithm for a position-controlled floating base system without joint torque information. First, the joint space dynamic model of the system is presented and transformed into the contact space. Then, the inverse dynamics method is employed to estimate... |
Decentralized Control Schemes for Stable Quadrupedal Locomotion: A Decomposition Approach from Centralized Controllers | https://ieeexplore.ieee.org/document/9341321/ | [
"Abhishek Pandala",
"Vinay R. Kamidi",
"Kaveh Akbari Hamed",
"Abhishek Pandala",
"Vinay R. Kamidi",
"Kaveh Akbari Hamed"
] | Although legged robots are becoming more nonlinear with higher degrees of freedom (DOFs), the centralized nonlinear control methods required to achieve stable locomotion cannot scale with the dimensionality of these robots. This paper investigates time-varying decentralized feedback control architectures based on hybrid zero dynamics (HZD) that stabilize dynamic legged locomotion with high degrees... |
Real-Time Constrained Nonlinear Model Predictive Control on SO(3) for Dynamic Legged Locomotion | https://ieeexplore.ieee.org/document/9341447/ | [
"Seungwoo Hong",
"Joon-Ha Kim",
"Hae-Won Park",
"Seungwoo Hong",
"Joon-Ha Kim",
"Hae-Won Park"
] | This paper presents a constrained nonlinear model predictive control (NMPC) framework for legged locomotion. The framework assumes a legged robot as a floating base single rigid body with contact forces being applied to the body as external forces. With consideration of orientation dynamics evolving on the rotation manifold SO(3), analytic Jacobians which are necessary for constructing the gradien... |
Automatic Gait Pattern Selection for Legged Robots | https://ieeexplore.ieee.org/document/9340789/ | [
"Jiayi Wang",
"Iordanis Chatzinikolaidis",
"Carlos Mastalli",
"Wouter Wolfslag",
"Guiyang Xin",
"Steve Tonneau",
"Sethu Vijayakumar",
"Jiayi Wang",
"Iordanis Chatzinikolaidis",
"Carlos Mastalli",
"Wouter Wolfslag",
"Guiyang Xin",
"Steve Tonneau",
"Sethu Vijayakumar"
] | An important issue when synthesizing legged locomotion plans is the combinatorial complexity that arises from gait pattern selection. Though it can be defined manually, the gait pattern plays an important role in the feasibility and optimality of a motion with respect to a task. Replacing human intuition with an automatic and efficient approach for gait pattern selection would allow for more auton... |
Kinodynamic Motion Planning for Multi-Legged Robot Jumping via Mixed-Integer Convex Program | https://ieeexplore.ieee.org/document/9341572/ | [
"Yanran Ding",
"Chuanzheng Li",
"Hae-Won Park",
"Yanran Ding",
"Chuanzheng Li",
"Hae-Won Park"
] | This paper proposes a kinodynamic motion plan-ning framework for multi-legged robot jumping based on the mixed-integer convex program (MICP), which simultaneously reasons about centroidal motion, contact points, wrench, and gait sequences. This method uniquely combines configuration space discretization and the construction of feasible wrench polytope (FWP) to encode kinematic constraints, actuato... |
Quadrupedal Robotic Walking on Sloped Terrains via Exact Decomposition into Coupled Bipedal Robots | https://ieeexplore.ieee.org/document/9341181/ | [
"Wen-Loong Ma",
"Noel Csomay-Shanklin",
"Aaron D. Ames",
"Wen-Loong Ma",
"Noel Csomay-Shanklin",
"Aaron D. Ames"
] | Can we design motion primitives for complex legged systems uniformly for different terrain types without neglecting modeling details? This paper presents a method for rapidly generating quadrupedal locomotion on sloped terrains-from modeling to gait generation, to hardware demonstration. At the core of this approach is the observation that a quadrupedal robot can be exactly decomposed into coupled... |
Waste Not, Want Not: Lessons in Rapid Quadrupedal Gait Termination from Thousands of Suboptimal Solutions | https://ieeexplore.ieee.org/document/9341414/ | [
"Stacey Shield",
"Amir Patel",
"Stacey Shield",
"Amir Patel"
] | Elaborate trajectory optimization models with many degrees of freedom can be a useful locomotion-planning tool, as they provide rich solutions that take advantage of the robot's specific morphology. They are, however, prone to falling into local minima. Depending on the seed that initializes the solver, the trajectories themselves and the extent to which they minimize the cost function can vary wi... |
Brainless Running: A Quasi-quadruped Robot with Decentralized Spinal Reflexes by Solely Mechanical Devices | https://ieeexplore.ieee.org/document/9340807/ | [
"Yoichi Masuda",
"Kazuhiro Miyashita",
"Kaisei Yamagishi",
"Masato Ishikawa",
"Koh Hosoda",
"Yoichi Masuda",
"Kazuhiro Miyashita",
"Kaisei Yamagishi",
"Masato Ishikawa",
"Koh Hosoda"
] | As a strategy to address the difficulties encountered when modeling and controlling a musculoskeletal system, we present a straightforward implementation of an autonomous decentralized motion control system in this paper; the system is inspired by the spinal reflex system of animals. We developed an artificial receptor, a muscle, and a neuron to mechanically implement the reflex mechanisms of anim... |
Snapbot V2: a Reconfigurable Legged Robot with a Camera for Self Configuration Recognition | https://ieeexplore.ieee.org/document/9341279/ | [
"Kevin G. Gim",
"Joohyung Kim",
"Kevin G. Gim",
"Joohyung Kim"
] | In this paper, we present the second version of a reconfigurable modular legged robot, Snapbot V2. The mechanical design of Snapbot V2 is enhanced for better dynamic performance and robust connection with modular legs. A motion generator for locomotion is developed to achieve various locomotion skills in one to six-leg configurations. The locomotion is tested on a multi-body dynamic simulation mod... |
PresSense: Passive Respiration Sensing via Ambient WiFi Signals in Noisy Environments | https://ieeexplore.ieee.org/document/9341474/ | [
"Yi Tian Xu",
"Xi Chen",
"Xue Liu",
"David Meger",
"Gregory Dudek",
"Yi Tian Xu",
"Xi Chen",
"Xue Liu",
"David Meger",
"Gregory Dudek"
] | Passive sensing with ambient WiFi signals is a promising technique that will enable new types of human-robot interactions while preserving users' privacy. Here, we present PresSense, a system for human respiration sensing in noisy environments. Unlike existing WiFi-based respiration sensors, we employ a human presence detector, improving the robustness in scenarios where no human is present in an ... |
Automatic Synthesis of Human Motion from Temporal Logic Specifications | https://ieeexplore.ieee.org/document/9341666/ | [
"Matthias Althoff",
"Matthias Mayer",
"Robert Müller",
"Matthias Althoff",
"Matthias Mayer",
"Robert Müller"
] | Humans and robots are increasingly sharing their workspaces to benefit from the precision, endurance, and strength of machines and the universal capabilities of humans. Instead of performing time-consuming real experiments, computer simulations of humans could help to optimally orchestrate human and robotic tasks—either for setting up new production cells or by optimizing the motion planning of al... |
Dynamic Assistance for Human Balancing with Inertia of a Wearable Robotic Appendage | https://ieeexplore.ieee.org/document/9341323/ | [
"Azumi Maekawa",
"Kei Kawamura",
"Masahiko Inami",
"Azumi Maekawa",
"Kei Kawamura",
"Masahiko Inami"
] | A reduced balance ability can lead to falls and critical injuries. To prevent falls, humans use reaction forces and torques generated by swinging their arms. In animals, we can find that a similar strategy is taken using tails. Inspired by these strategies, we propose an approach that utilizes a robotic appendage as a human balance supporter without assistance from environmental contact. As a proo... |
A Deep Learning Based End-to-End Locomotion Mode Detection Method for Lower Limb Wearable Robot Control | https://ieeexplore.ieee.org/document/9341183/ | [
"Zeyu Lu",
"Ashwin Narayan",
"Haoyong Yu",
"Zeyu Lu",
"Ashwin Narayan",
"Haoyong Yu"
] | To function effectively in real-world environments, powered wearable robots such as exoskeletons and robotic prostheses must recognize the user's motion intent by detecting the user's locomotion modes such as walking, stair ascent and descent or ramp ascent and descent. Traditionally, intent detection is achieved using rule based methods such as state machines or fuzzy logic using data from wearab... |
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