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Robot-robot interaction, groups and swarms
Published in Arkapravo Bhaumik, From AI to Robotics, 2018
(1) Virtual Type, which are driven by operators via graphical interfaces and exist solely in the virtual space. (2) Unconscious Type1, are driven by embedded hardware and are more an extension of machines and the (3) Visible Type, which are nearly autonomous and can act on human orders, such as personal robots. The network is developed with a visible type robot, the HOAP-2 humanoid robot. It has 13 degrees of freedom and it was employed over an interface of RT-Linux. The robot was used in the project for remote manipulation and surveillance over a mobile phone, schematically shown in Figure 6.2.
The DCM generalized inverse: efficient body-wrench distribution in multi-contact balance control
Published in Advanced Robotics, 2018
Masahiro Hosokawa, Dragomir N. Nenchev, Takahide Hamano
We examined the performance of the WD/balance controller via simulations in OpenHRP3 with three tasks. A small-sized humanoid robot model (height 500 mm, weight 6 kg) with 20 joints (8 for the arms and 12 for the legs) was used, as shown in Figure 5. The footprint (BoS) is mm w.r.t. to the ankle joint center. All model parameters were derived from the HOAP-2 robot specification [37]. The feedback gains were set at and . A torque controller comprising components arranged in hierarchical order was used, e.g. as in [28]. After breaking a contact, the respective end-link was required to track the desired trajectory, but with lower priority than the WD/balance control task. The details of the controller related to the end-link motion tracking task will be omitted here due to space limitations. The simulation results can be seen in the video accompanying this work.
Whole-Body Balance Control of a Humanoid Robot in Real Time Based on ZMP Stability Regions Approach
Published in Cybernetics and Systems, 2018
Concepción A. Monje, Santiago Martinez, Paolo Pierro, Carlos Balaguer
The reference positions for HOAP-3 joints angles corresponding to this control performance are shown in Figures 5 and 6, and the corresponding submitted joints torques in Figures 4, 7 and 8, showing the feasibility of the control actions. Red lines indicate the physical limits (saturation) for each joint angle and torque in the case of HOAP-3 robot. For simplification, the simulation results corresponding to robot TEO have not been included, showing an equivalent performance to those of the robot HOAP-3.