14 accepted papers
In this letter, we present a planning method considering regrasp and mobility for the manipulation problem of a long deformable object in an industrial scenario. The object is carried through designated rollers by a dual-arm robot in the presence of environmental constraints. The problem is formulat
In this paper we report the safety-oriented framework for controlling the torque in the case of robots with high reduction gears and having no joint torque feedback. This kind of robots suffer from high joint friction and low backdrivability, requiring high gains and integral feedback, which can be…
This letter proposes a framework for an autonomous humanoid robot, aimed at searching for a target object in an unknown environment using 3D-simultaneous localization and mapping (SLAM). The robot determines, while walking, the next viewpoint from an environment map and aggregated object recognition
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 an…
This paper focuses on a stabilization control for multi-contact motion which enables a humanoid robot to locomote by realizing dynamic contact transitions on non-flat environment. In the stabilization process of the multi-contact motion, the desired Zero-Moment Point (ZMP) is modified by the positio…
A motion planning algorithm computes the motion of a robot by computing a path through its configuration space. To improve the runtime of motion planning algorithms, we propose to nest robots in each other, creating a nested quotient-space decomposition of the configuration space. Based on this deco…
We propose a control framework for torque controlled humanoid robots that efficiently minimizes the tracking error in a Quadratic Programming (QP)formulated as multiobjective weighted tasks with constraints. It results in an optimal dynamically-feasible reference that can be tracked robustly, with e…
We propose a robust method to handle kinematic and algorithmic singularities of any kinematically redundant robot under task-space hierarchical control with ordered equalities and inequalities. Our main idea is to exploit a second order model of the nonlinear kinematic function, in the sense of the
We study the HRP-2Kai humanoid robot's ability to conduct the precise industrial task of fastening bolts in aircraft production. Our contribution stands mainly in high integration of different modules within the whole-body Quadratic Programing-based controller that has not been yet confronted to tas…
This letter presents a physically based algorithm to interactively simulate and control the motion of soft robots interacting with their environment. We use the finite-element method to simulate the nonlinear deformation of the soft structure, its actuators, and surroundings and propose a control me
This paper presents a new condition, the fully physical consistency for a set of inertial parameters to determine if they can be generated by a physical rigid body. The proposed condition ensure both the positive definiteness and the triangular inequality of 3D inertia matrices as opposed to existin…
In this paper we propose a method to build a smooth and non-singular map from the unit sphere to a Catmull-Clark subdivision surface. We use a tailored ray-casting algorithm to associate a point of the surface to each point of the sphere. This allows us to have smooth approximate representations for
Humanoid robots being underactuated, they need to interact with their environment to move. When optimizing trajectories, the contact forces must therefore be taken into account. In this paper, we first highlight an issue encountered when using parametrized functions in the presence of equality const…
The mass parameters of robots influence performances of model-based control and validation of the simulation results. The mass parameters provided by CAD data are usually rough approximation of the true parameters. Therefore several methods for estimation of those parameters have been proposed. Thei…