Controlling anthropomorphic kinematics as multi-agent systems

The objective of ergonomic systems design is to design the interaction between humans and machines in such a way that productivity, efficiency and humanity would not contradict each other. Hence, the human has to be considered as an integral part of the system. To use the full potential of this concept the system has to be accepted as a co-worker by the human. Anthropomorphism is an approach that is used in different areas to improve the acceptance of non-human entities as team-partners. The study within this work focuses on the effects of anthropomorphism in industrial environments. A virtual environment consisting of a robotized assembly cell was developed to conduct the experimental study. In order to simulate anthropomorphic movements, human pick and place movements were acquired using an infrared motion capture system. The data were used to drive the model of a virtual assembly robot. Within the experiment both anthropomorphic and constant speed profiles were compared. The main...

2014

The research developed in this PhD thesis deals with the general problem of dynamic control of ''task-oriented'' under-actuated and redundant systems considering more specifically the humanoid robotic systems. This research brings contributions to the problem of motor activities synthesis for constrained systems by their intrinsic capacities and by particular physical interactions with the environment. More specific issues that were addressed relate to: 1) the dynamic control of humanoid systems for carrying out basic activities requiring task/posture coordination perturbed by physical interactions, 2) the building of sequences of continuous dynamic activities based on a repertoire of motor coordination, 3) the planning and the adaptation of activities in the aim of a supervised automatic sequencing for complex non-deterministic tasks. The first chapter of this thesis is devoted to the description of a physical simulation engine and control laws for the development o...

2002

This paper investigates the problem of controlling an anthropomorphic robot arm with autonomously variable compliance in order to ensure safety in the interaction with humans and, above all, to increase the robot functionality in tasks of physical interaction, perjbrmed in co-operation with humans.

2000

Robotics can provide technological solutions for improving the quality of life of disabled o r elderly people. The main objective of this project is to give these people some independence. The use of a mobile base mounted arm allows for the restoration of some of the manipulatory functions lost by the person. Due to the cost of t he final

International Journal of Humanoid Robotics, 2005

To synthesize whole-body behaviors interactively, multiple behavioral primitives need to be simultaneously controlled, including those that guarantee that the constraints imposed by the robot's structure and the external environment are satisfied. Behavioral primitives are entities for the control of various movement criteria, e.g. primitives describing the behavior of the center of gravity, the behaviors of the hands, legs, and head, the body attitude and posture, the constrained body parts such as joint-limits and contacts, etc. By aggregating multiple primitives, we synthesize whole-body behaviors. For safety and for efficient control, we establish a control hierarchy among behavioral primitives, which is exploited to establish control priorities among the different control categories, i.e. constraints, operational tasks, and postures. Constraints should always be guaranteed, while operational tasks should be accomplished without violating the acting constraints, and the post...

1997

This paper introduces a novel agent-based solution approach to Task Based Design (TBD) and illustrates it with a fault tolerant manipulator design problem for a satellite docking operation aboard the space shuttle. Task Based Design software is an important component of a rapidly deployable manipulator system. Such a system consists of interchangeable modular manipulator components and includes support software for design, control, and trajectory planning. The TBD software allows the user to determine the manipulator configuration optimally suited for a given task. After the user reconfigures the manipulator to this optimal configuration, the controller and trajectory planner automatically adapt themselves to the new configuration so that the manipulator is ready for immediate deployment.

2001

In this paper we present the current state of our humanoid robot ARMAR. We introduce different subsystems that were developed based on the intended application, i. e. service in a household environment. The paper primarily addresses the control strategies, computer architecture and the generation of humanlike motions. We present experimental results showing the generation of ARMAR's motion trajectories based on the observation of human motion and the control techniques that were applied to follow the generated motion trajectories.

In present work a development of the passive approach is made to design of human - oriented robots. Model of robots with controllable compliance modules on the base and cable transmissions is developed that creates a natural security in the interaction with human. In the paper computer model of 4R robot is developed and simulated using Solid Dynamics 2004+ program software. Computer simulations of the robot compliance behavior are carried out. Influence of the compliance on the position control and on the motor torques is been evaluated when changing based mechanical characteristics. The results obtained from calculation of the mechanical parameters are also illustrated graphically. A model with animation of motion is obtained.

2015 IEEE International Conference on Robotics and Automation (ICRA), 2015

The paper deals with the problem of planning movements of dual-arm anthropomorphic systems, with the aim of reducing the computational cost of the problem and making the movements look as human-like as possible. The key idea of the proposal is the search of synergies of the dualarm anthropomorphic system in order to use them to reduce the dimension of the search space while preserving human-like appearance. This idea was already developed and successfully used to plan movements of robotic hands, thus the extension to a dual-arm system is attractive. The paper presents a description of the proposed approach as well as real experimental results that encourage doing further research in this line.

Robotics and Autonomous …, 2011