Push Recovery Control for Force-controlled Humanoid Robots - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Push Recovery Control for Force-controlled Humanoid Robots write by Benjamin Stephens. This book was released on 2011. Push Recovery Control for Force-controlled Humanoid Robots available in PDF, EPUB and Kindle. Abstract: "Humanoid robots represent the state of the art in complex robot systems. High performance controllers that can handle unknown perturbations will be required if complex robots are to one day interact safely with people in everyday environments. Analyzing and predicting full-body behaviors is difficult in humanoid robots because of the high number of degrees of freedom and unstable nature of the dynamics. This thesis demonstrates the use of simple models to approximate the dynamics and simplify the design of reactive balance controllers. These simple models define distinct balance recovery strategies and improve state estimation. Push Recovery Model Predictive Control (PR-MPC), an optimization-based reactive balance controller that considers future actions and constraints using a simple COM model, is presented. This controller outputs feasible controls which are realized by Dynamic Balance Force Control (DBFC), a force controller that produces full-body joint torques. Push recovery, walking, and other force-based tasks are presented both in simulation and in experiments on the Sarcos Primus hydraulic humanoid robot."
Human-Inspired Balancing and Recovery Stepping for Humanoid Robots
Human-Inspired Balancing and Recovery Stepping for Humanoid Robots - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Human-Inspired Balancing and Recovery Stepping for Humanoid Robots write by Kaul, Lukas Sebastian. This book was released on 2019-05-15. Human-Inspired Balancing and Recovery Stepping for Humanoid Robots available in PDF, EPUB and Kindle. Robustly maintaining balance on two legs is an important challenge for humanoid robots. The work presented in this book represents a contribution to this area. It investigates efficient methods for the decision-making from internal sensors about whether and where to step, several improvements to efficient whole-body postural balancing methods, and proposes and evaluates a novel method for efficient recovery step generation, leveraging human examples and simulation-based reinforcement learning.
Push Recovery and Active Balancing for Inexpensive Humanoid Robots
Push Recovery and Active Balancing for Inexpensive Humanoid Robots - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Push Recovery and Active Balancing for Inexpensive Humanoid Robots write by Amirhossein Hosseinmemar. This book was released on 2019. Push Recovery and Active Balancing for Inexpensive Humanoid Robots available in PDF, EPUB and Kindle. Active balancing of a humanoid robot is a challenging task due to the complexity of combining a walking gait, dynamic balancing, vision and high-level behaviors. My Ph.D research focuses on the active balancing and push recovery problems that allow inexpensive humanoid robots to balance while standing and walking, and to compensate for external forces. In this research, I have proposed a push recovery mechanism that employs two machine learning techniques, Reinforcement Learning (RL) and Deep Reinforcement Learning (DRL) to learn recovery step trajectories during push recovery using a closed-loop feedback control. I have implemented a 3D model using the Robot Operating System (ROS) and Gazebo. To reduce wear and tear on the real robot, I used this model for learning the recovery steps for different impact strengths and directions. I evaluated my approach in both in the real world and in simulation. All the real world experiments are performed by Polaris, a teen- sized humanoid robot in the Autonomous Agent Laboratory (AALab), University of Manitoba. The design, implementation, and evaluation of hardware, software, and kinematic models are discussed in this document.
Pursh Recovery for Humanoid Robots Using Linearized Double Inverted Pendulum
Pursh Recovery for Humanoid Robots Using Linearized Double Inverted Pendulum - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Pursh Recovery for Humanoid Robots Using Linearized Double Inverted Pendulum write by Saurav Singh. This book was released on 2020. Pursh Recovery for Humanoid Robots Using Linearized Double Inverted Pendulum available in PDF, EPUB and Kindle. "Biped robots have come a long way in imitating a human being's anatomy and posture. Standing balance and push recovery are some of the biggest challenges for such robots. This work presents a novel simplified model for a humanoid robot to recover from external disturbances. The proposed Linearized Double Inverted Pendulum, models the dynamics of a complex humanoid robot that can use ankle and hip recovery strategies while taking full advantage of the advances in controls theory research. To support this, an LQR based control architecture is also presented in this work. The joint torque signals are generated along with ankle torque constraints to ensure the Center of Pressure stays within the support polygon. Simulation results show that the presented model can successfully recover from external disturbances while using minimal effort when compared to other widely used simplified models. It optimally uses the the torso weight to generate angular momentum about the pelvis of the robot to counter-balance the effects of external disturbances. The proposed method was validated on simulated `TigerBot-VII', a humanoid robot."--Abstract.
Adaptive Control for Robotic Manipulators
Adaptive Control for Robotic Manipulators - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Adaptive Control for Robotic Manipulators write by Dan Zhang. This book was released on 2017-02-03. Adaptive Control for Robotic Manipulators available in PDF, EPUB and Kindle. The robotic mechanism and its controller make a complete system. As the robotic mechanism is reconfigured, the control system has to be adapted accordingly. The need for the reconfiguration usually arises from the changing functional requirements. This book will focus on the adaptive control of robotic manipulators to address the changed conditions. The aim of the book is to summarise and introduce the state-of-the-art technologies in the field of adaptive control of robotic manipulators in order to improve the methodologies on the adaptive control of robotic manipulators. Advances made in the past decades are described in the book, including adaptive control theories and design, and application of adaptive control to robotic manipulators.
