Giovanni Gerardo Muscolo

Implementation of a bio-inspired visual tracking model on the iCub robot

The purpose of this work is to investigate the applicability of a visual tracking model on humanoid robots in order to achieve a human-like predictive behavior. In humans, in case of moving targets the oculomotor system uses a combination of the smooth pursuit eye movement and saccadic movements, namely “catch up” saccades to fixate the object of interest

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.

Underwater Intervention Robotics: An Outline of the Italian National Project MARIS

The Italian national project MARIS (Marine Robotics for InterventionS) pursues the strategic objective of studying, developing and integrating technologies and methodologies enabling the development of autonomous underwater robotic systems employable for intervention activities, which are becoming progressively more typical for the underwater offshore industry, for search-and-rescue operations, and for underwater scientific missions. Within such an ambitious objective, the project consortium also intends to demonstrate the achievable operational capabilities at a proof-of-concept level, by integrating the results with prototype experimental

A Comparison between Two Force-Position Controllers with Gravity Compensation Simulated on a Humanoid Arm

The authors propose a comparison between two force-position controllers with gravity compensation simulated on the DEXTER bioinspired robotic arm. The two controllers are both constituted by an internal proportional-derivative (PD) closed-loop for the position control. The force control of the two systems is composed of an external proportional (P) closed-loop for one system (P system) and an external proportional-integrative (PI) closed-loop for the other system (PI system). The simulation tests performed with the two systems on a planar representation of the DEXTER, an eight-DOF bioinspired arm, showed that by varying the stiffness of the environment, with a correct setting of parameters, both systems ensure the achievement of the desired force regime and with great precision the desired position. The two controllers do not have large differences in performance when interacting with a lower stiffness environment. In case of an environment with greater rigidity, the PI system is more stable. The subsequent implementation of these control systems on the DEXTER robotic bioinspired arm gives guidance on the design and control optimisation of the arms of the humanoid robot named SABIAN.

A comparison between two bio-inspired adaptive models of Vestibulo-Ocular Reflex (VOR) implemented on the iCub robot

In order to develop efficient bio-inspired sensory-motor control for humanoid robots there are different kind of approaches that can be used to simulate a specific human behavior. The purpose of this work is to compare two models of the Vestibulo-Ocular Reflex (VOR) for the image stabilization during head movements. The VOR system has adaptive properties and this behavior resides in the cerebellum. This adaptive system uses the retinal slip as error signal and compensates for the eye dynamics, the control loop latencies and the nonlinearity due to the offset between the rotational axes of the eyeballs and the head. The adaptation mechanism has been represented by the two models in one case as a Feedback Error Learning (FEL) [1] and in the other as a decorrelation model [2]. In this work it has been shown principal results about the implementation on the simulator of the iCub robot.

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.

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.

Biomechanics of human locomotion with constraints to design flexible-wheeled biped robots

This paper proposes a biomechanical analysis of human locomotion to define a reference system for designing flexible-wheeled biped robots. The novelties proposed with this paper are twofold: 1) to revolutionize the concept to design humanoid robots as a complete imitation of humans; 2) to reduce the gap between humans and humanoids designing systems obtained by studying limits of human abilities instead of optimizing humanoid capabilities. In this first study, a human walking model is designed with some added constraints. In particular, the feet are always in contact with the ground. Results of this work are used to optimize the real flexible-wheeled biped robot, named ROLLO, with the final aim to move the robot like a human but bypassing the complexities of the human body and the robotic control.