10 accepted papers
Standing and sitting are basic tasks that become increasingly difficult with age or frailty. Assisting these movements using humanoid robots is a complex challenge, particularly in determining where and how much force the robot should apply to effectively support the human's dynamic motions. In this
Almost all (not to say all) existing humanoids have not been designed with the ability to change their end-effectors (head, feet and hands) on-the-fly. Inspired by the tool-changing mechanisms in robotics automation and manufacturing, we propose an end-effectors changer mechanism suitable to humanoi
In this letter, we propose a whole-body control strategy for humanoid robots in multi-contact settings that enables switching between fixed and sliding contacts under active balance. We compute, in real-time, a safe center-of-mass position and wrench distribution of the contact points based on the C
In order for a humanoid robot to perform loco-manipulation such as moving an object while walking, it is necessary to account for sustained or alternating external forces other than ground-feet reaction, resulting from humanoid-object contact interactions. In this letter, we propose a bipedal contro
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
In this letter, we revisit an open problem of constraints formulation in the context of task-space control frameworks formulated as quadratic programs. In most inverse dynamics implementations, the decision variables are: robot joints acceleration, interaction forces (mostly physical contacts), and
This study deals with the balance of humanoid or multi-legged robots in a multi-contact setting where a chosen subset of contacts is undergoing desired sliding-task motions. One method to keep balance is to hold the center-of-mass (CoM) within an admissible convex area. This area is calculated based…
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…
Walking gaits generated using Model Predictive Control (MPC) is widely used due to its capability to handle several constraints that characterize humanoid locomotion. The use of simplified models such as the Linear Inverted Pendulum allows to perform computations in real-time, giving the robot the f…