Carmine Tommaso Recchiuto

A method for the calculation of the effective Center of Mass of humanoid robots

In this paper we present a general strategy for the calculation of the effective Center of Mass (CoM) of humanoid robots, allowing the reduction of the error between the virtual robot model and the real platform. The method is based on an algorithm that calculates the real position of the CoM of a biped humanoid robot using only 2 force/torque sensors located on the feet of the robot. By means of this algorithm, it is possible to reduce the gap between the real and the virtual posture of the robot and consequently the errors between the ZMP trajectory calculated by the offline pattern generator and the ZMP trajectory calculated by the real-time pattern generator of the humanoid robot. Thus, the influence of the real-time control in the static and dynamic balance of a humanoid platform is minimized. Experimental results using SABIAN platform are provided to validate the proposed method. The results support the applicability of the method to more complex systems.

Real-Time Path Generation and Obstacle Avoidance for Multirotors: A Novel Approach

Multirotors, among all aerial vehicles, are fundamental instruments in many situations, i.e. video recording of sport events, leisure, environmental monitoring before or after a disaster. In particular, in the context of environmental monitoring, the possibility of following a predetermined path while avoiding obstacles is extremely relevant. In this work, we propose a novel method for path definition in presence of obstacles, which describes a curve as the intersection of two surfaces. The planner, based on that path definition along with a Cascaded control architecture and utilizing a nonlinear control technique for both control loops (position and attitude), creates a framework to manipulate the multicopters’ behaviors. The method is demonstrated to be able to generate a safe path taking into account obstacles perceived in real-time and avoids collisions. These algorithms are embedded in a software package to control the flight of a fully autonomous AscTec Firefly hexacopter with two cameras and onboard processing capabilities.

Visual feedback with multiple cameras in a UAVs Human-Swarm Interface

In all situations in which a wide area has to be monitored, a practice emerging in recent years consists in using Unmanned Aerial Vehicles (UAVs), and in particular multirotors. Even if many steps forward have been taken toward the fully autonomous control of UAVs, a human pilot is usually in charge of controlling the robots. However, teleoperating UAVs can become a hard task whenever it is necessary to deploy a swarm of robots instead of a single unit, to the end of increasing the area under observation. In this case, the organization of robots in a structured formation may reduce the effort of the operator to control the swarm.When controlling a team of robots, the typology of visual feedback is crucial. It is known that, while overall awareness and pattern recognition are optimized by exocentric views, i.e., with cameras from above the swarm, the immediate environment is often better viewed egocentrically, i.e., with cameras on board the robots.In this article we present the implementation of a human-robot interface for the control of a swarm of UAVs, with a focus on the analysis of the effects of different visual feedbacks on the performance of human operators. The implementation of a novel Human-Swarm interface for UAVs.Analysis of the effects of different visual feedbacks on the performances.A first-person POV is suitable for some typologies of simple tasks.If the task is complex, exocentric cameras increase the users performance.Camera configurations can have an impact on the resulting performance.

Dynamic balance optimization in biped robots: Physical modeling, implementation and tests using an innovative formula

In this paper, an analytical formula for the determination of the center of mass position in humanoid platforms is proposed and tested in a real humanoid robot. The formula uses the force-torque values obtained by the two force-torque sensors applied on the feet of the robot and the measured currents required from the motors to maintain balance as inputs. The proposed formula outputs the real center of mass position that minimizes the errors between real humanoid robots and virtual models. Data related to the Zero Moment Point positions and to the joint movements are compared with the target values, showing how the application of the proposed formula enables achieving better repeatability and predictability of the static and dynamic robot behaviour.

Incorporation of Novel MEMS Tactile Sensors into Tissue Engineered Skin

Tactile sensation is important for the performance of daily tasks and prevention of injury. Full thickness wounds of greater than 4cm diameter will not spontaneously heal. Tissue engineering can be used to replace the lost skin, but this skin will often fail to be reinnervated. This results in loss of tactile sensations. Here we have developed a novel, silicon based MicroElectroMechanical Systems (MEMS) sensor array that is capable of detecting tactile experiences of the tissue engineered skin. Tissue engineered skin with tactile experiences can also be useful in the replacement of animal testing in the pharmaceutical industry.

T.P.T. a novel Taekwondo personal trainer robot

In recent years, robotics has been widely used in the sport sector, but few examples of robotic platforms are currently used in combat sports. This work presents T.P.T., a novel robotic prototype used in the context of Taekwondo, an Olympic martial art sport, able of interacting with children and with adult athletes. In this paper, the conceptual and functional design of the robot, including some preliminary tests aimed at its calibration, is described in details. The robot has been presented at the 2013 Italian Championship of Taekwondo, and it is in a patent pending status (Muscolo and Recchiuto, 2013). A novel robotic prototype for sport training is described.The conceptual and functional design of the novel robot is presented.First experimental tests with the platform have been carried out.The internal odometry of the robot has been evaluated.

Flexible Structure and Wheeled Feet to Simplify Biped Locomotion of Humanoid Robots

The paper presents a creative design approach focused at simplifying the control of biped humanoid robots locomotion in a domestic scenario. The creative design approach is the result of intensive studies aimed at optimizing dynamic balance ZMP-based control on fully-actuated biped platforms. The innovative solution proposed in this paper is applied to the realization of a novel humanoid robot, ROLLO, which is based on the implementation of a passive flexible structure constituting the robotic legs, and of wheeled feet. The unconventional use of the cylindrical helical springs in the flexible structure of the legs allows obtaining a biped robot able to achieve an alternate leg motion having only two active motors and remaining in a standing position also when the motors are not active.

An embodied-simplexity approach to design humanoid robots bioinspired by taekwondo athletes

We are investigating new approaches to design and develop embodied humanoid robots with predictive behaviour in the real world. Our approaches are strongly based on the symbiotic interaction between the concepts of the embodied intelligence and simplexity that enables us to reproduce the artificial body in symbiosis with its intelligence. The research is based on the study of martial arts athletes and their planned movements. In particular, the taekwondo martial art competition where anticipation and adaptive behaviours are key points is used as a vehicle to address conceptual and design issues. The expected outcome will be the development of a robot that will have the capability to anticipate an opponent’s actions by coordinating eyes, head and legs, with a stable body constituted by an embodied platform bioinspired by the taekwondo athletes.

Post-disaster assessment with unmanned aerial vehicles: A survey on practical implementations and research approaches

In this paper, we provide a review of the principal aspects related to search & rescue (SAR) with unmanned aerial vehicles (UAVs), with particular interest in the phase of post-disaster assessment (PDA). Some areas of interest related to this topic have been chosen for the analysis: the aerial platforms used in the field, multirobot software architectures, onboard sensors and simultaneous localization and mapping approaches, terrain coverage algorithms, autonomous navigation techniques, and human-swarm interfaces. All these aspects have been analyzed with respect to the state-of-the-art, and also in relation to the project PRISMA, which focuses on the development and deployment of robots and autonomous systems that can operate in emergency scenarios, with a specific reference to monitoring and real-time intervention.

A Robotic Suit Controlled by the Human Brain for People Suffering from Quadriplegia

The authors present an introductory work for the implementation of an international cooperative project aimed at designing, developing and validating a new generation of ergonomic robotic suits, wearable by the users and controlled by the human brain. The aim of the proposers is to allow the motion of people affected by paralysis or with reduced motor abilities. Therefore, the project will focus on the fusion between neuroergonomics and robotics, also by means of brain-machine interfaces. Breakthrough solutions will compose the advanced robotic suit, endowed with soft structures to increment safety and human comfort, and with an advanced real-time control that takes into account the interaction with the human body.