Dmitry Kaynov

A practical decoupled stabilizer for joint-position controlled humanoid robots

Efficient methods have so far been proposed for planning dynamically stable walking pattern for humanoid robots. However, to guarantee that the reference joint trajectory will produce a safe movement despite modeling errors and perturbations, a stabilizer needs to be implemented on the robot. Though this stabilizer constitutes an essential part of the control strategy of most advanced humanoid platform, it is usually not open-source and dedicated to the own robot characteristics. The goal of this paper is to propose a general and practical strategy for designing a stabilizer for joint-position controlled humanoid robots. The proposed method is based on a double inverted pendulum model and a decoupling approach thanks to which the position of the ZMP and the center of gravity can be controlled independently through the regulation of the ankle and hip joints. The stabilizer generates the expected stabilizing torques from the admissible joint position input. The resulting control algorithm is fast and can be easily executed on the robot. This algorithm was successfully implemented as real-time plugins for the OpenHRP simulator of the HRP2. Simulations showing the efficiency of the method are presented and discussed.

Industrial automation based approach to design control system of the humanoid robot.

This paper presents an advanced control system for the humanoid robot. The main advantage of the proposed control architecture is the use of the standardized and frequently used in the automation industry solutions and commercial available hardware components. It provides the scalability, the modularity and the application of standardized interfaces and brings the design of the complex control system of the humanoid robot from a closed laboratory to the industry. The main parts of the proposed control system, such as hardware and software architectures and communication infrastructure are presented. As well as some aspects of the humanoid robot walking control from the automation side are discussed. The designed control system was implemented with the Rh-1 humanoid platform, the second phase of the Rh project, which have been launched by the Robotics Lab at the University Carlos III of Madrid at 2002.

Joint control of a humanoid robot

Stable walking is the essential ability for the humanoid robot. One of the conditions to achieve a stable robot walking is to maintain the real trajectory of each joint, affected by different disturbances, more similar to the ideal one. This paper considers an identification of dynamical parameters and then a design of joints controller for a humanoid robot. Moreover, the additional study was carried out in order to determine the need of the adaptive joint control in humanoid robot bipedal walking. Different walking experiments provided with Rh-1 humanoid robot equipped with the developed control system demonstrate fast, stable and smooth joints movement.

ZMP Human Measure System

This paper describes a measuring system to calculate the ZMP in humans. The main goal is to do several tests with a hardware measure system in order to analyze whether it will be possible to implement it in the Rh-0 humanoid robot. The humanoid robot Rh-0 under development at the Robotics Lab of the University Carlos III of Madrid, will have a movement control system which will measure its ZMP on-line. First of all, several tests of these possible control systems on people have been developed, measuring their ZMP while they are walking on a plane floor.

CREATING A GESTURE RECOGNITION SYSTEM BASED ON SHIRT SHAPES

The present article describes the gesture recognition system that has been developed at the University Carlos I11 of Madrid. The system’s functionality is based on the assumption that the person that wants to interact with the robot should wear a shirt which characteristics must have been previously passed on to the program. The algorithm used for the recognition is presented in detail. The results of a number of tests are presented and discussed along with the suggestions for hture improvements.

Mechanical Design and Dynamic Analysis of the Humanoid Robot RH-0

This paper presents the design process and the dynamic analysis of the 21 DOF humanoid robot RH-0, developed in the Robotics Lab. at the University Carlos III of Madrid.

Advanced Motion Control System for the Humanoid Robot Rh-0

This paper presents an advanced motion control system for the Rh-0 humanoid robot. Rh-0 is a humanoid platform which we developed on the first phase of the Rh project, which was launched by the Robotics Lab at the University Carlos III of Madrid in 2002. The motion control system of Rh-0 is based on standard commercial available hardware components. It provides scalability, modularity and application of standardized interfaces. As a result, easy upgrade and further development of reduced weight humanoid robot is possible. In this paper the hardware system, control level software and experimental results are discussed.

DETECTING SOUND SOURCES WITH THE HUMANOID ROBOT RH-1

Rh-l is a humanoid robot under development at the University Carlos I11 of Madrid. Along with other interaction types, the robot is capable of recognizing voice commands. This article describes the sound localization system that has been added recently. It is independent of the voice recognition system and uses the information From several microphones attached to the robot’s head that is further processed in order to estimate the sound source direction. Results are presented and discussed and the ideas how to improve the performance are suggested.

A “T-shirt Based” Image Recognition System

This paper presents a simple image recognition system for the Rh-0 humanoid robot that has been developed in the University Carlos III of Madrid, Spain. This system extracts some basic features from the image that may be used in the robot’s navigation and path planning. The simplicity of this system is based on the assumption that the person interacting with the robot is wearing a red T-shirt as well as on some other assumptions. In the paper we describe the vision system’s structure and the steps followed in the development of the image recognition system. Experimental results and discussion complete the description of the system.