18 accepted papers
We propose a novel walking control scheme based on the dynamics of the Linear Inverted Pendulum (LIP) model. The pattern generation incorporates a model of contact forces, enabling closed-loop control of the humanoid robot’s state, including the Center of Mass (CoM) position, velocity, and Zero Mome…
Physical Human-Robot Interaction (pHRI) is critical for implementing Industry 5.0 which focuses on human-centric approaches. However few studies explore the practical alignment of pHRI to industrial grade performance. This paper introduces a versatile control framework designed to bridge this gap by…
Shared autonomy is the future of teleoperation as it reduces the teleoperator’s burden, enhances capabilities, and improves embodiment by offering seamless control of the robot. However, it remains rarely used, particularly with humanoid robots, as it faces numerous challenges. In this work, we intr
In this letter, we propose a controller for legged robots that takes into account the individual contact compliance. This controller is able to achieve both balance stabilization and force control in the same loop in task space thanks to the use of an explicit contact flexibility model and simplifie
We present a tele-operation control framework that (i) enhances the upper motion synchrony between a user and a robot using the minimum-jerk model coupled with a recursive least-square filter, and (ii) synchronizes the walking pace by predicting user's stepping frequency using motion capture data an
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…
Deep Convolutional Neural Networks (CNNs) have been successfully deployed on robots for 6-DoF object pose estimation through visual perception. However, obtaining labeled data on a scale required for the supervised training of CNNs is a difficult task - exacerbated if the object is novel and a 3D mo…
In future robotic applications in environments such as nursing houses, construction sites, private homes, etc, robots might need to take unpredicted physical actions according to the state of the users to overcome possible human errors. Referring to these actions as active physical human-robot inter
In this letter, we present an observation scheme, with proven Lyapunov stability, for estimating a humanoid's floating base orientation. The idea is to use velocity aided attitude estimation, which requires to know the velocity of the system. This velocity can be obtained by taking into account the
In this letter, we propose a graph-search based multi-contact locomotion planning method for humanoid robots, focusing on the sustainability of contacts as its key feature. We introduce the idea of sustainable contact area, which represents the area on which contacts can be maintained during contact
The simulation of static friction, and especially the effect of stiction, is cumbersome to perform in discrete-time due to its discontinuity at zero velocity and its switching behavior. However, it is essential to achieve reliable simulations of friction to develop compliant torque control algorithm…
Estimating the center of mass position and the angular momentum derivative of legged systems is essential for both controlling legged robots and analyzing human motion. In this letter, a novel recursive approach to concurrently and accurately estimate these two quantities together is introduced. The
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…
The dynamics of a humanoid robot cannot be correctly described independently from the external forces acting on it. These forces have to be reconstructed to enable the robot to control them or to compensate for them. Force sensors are usually used to measure these forces, but because of their cost,…
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…
To guarantee its balance, a humanoid robot has to respect some contact force constraints. Therefore, traditional controllers generate motions complying with these constraints, but they usually consider the robot as stiff and the joint position perfectly known. However, several robots contain complia…
A humanoid robot is underactuated and only relies on contacts with environment to move in the space. The ability to measure contact forces and torques enables then to predict the robot dynamics including balance. In classical cases, a humanoid robot is considered as a multi-body system with rigid li…