Article
Robotics
Antonin Dallard, Mehdi Benallegue, Fumio Kanehiro, Abderrahmane Kheddar
Summary: We propose a tele-operation control framework that improves the upper motion synchrony between a user and a robot using the minimum-jerk model and a recursive least-square filter. We also synchronize the walking pace by predicting the user's stepping frequency using motion capture data and a deep learning model. By integrating these two methods in a task-space whole-body controller, we achieve full-body synchronization. We evaluate our model on the HRP-4 humanoid robot in experiments involving forward, lateral, and backward walks with concurrent upper limb motions.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2023)
Article
Robotics
Kazuki Sugihara, Moju Zhao, Takuzumi Nishio, Tasuku Makabe, Kei Okada, Masayuki Inaba
Summary: This article presents an optimized construction method for a humanoid robot equipped with wheels and a flight unit, which enables rapid terrestrial locomotion and expands the locomotion domain to the air. The integrated control framework for aerial, legged, and wheeled locomotion modes is described, and the robot platform successfully achieves multimodal locomotion and aerial manipulation experiments.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2023)
Article
Automation & Control Systems
Murilo Mendonca Venancio, Rogerio Sales Gonalves, Reinaldo Augusto da Costa Bianchi
Summary: This article proposes a new method using a convolutional neural network to classify terrain types, which can successfully classify terrain types with an accuracy greater than 98% in both real and virtual situations. Practical tests have shown that this method surpasses the current level of terrain classification methods for legged robots.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2021)
Article
Automation & Control Systems
Yuan Gao, Chengzhi Yuan, Yan Gu
Summary: This article introduces a method for state estimation during legged locomotion over a dynamic rigid surface. The method uses common sensors of legged robots and utilizes an invariant extended Kalman filter to estimate the pose and velocity of the robot.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2022)
Article
Engineering, Multidisciplinary
Da Cui, Christopher Peers, Guoqiang Wang, Zeren Chen, Robert Richardson, Chengxu Zhou
Summary: This study introduces a novel fall prevention strategy for humanoid robots using arms to make contact with environmental objects. The upper limb of the robot acts as an adjustable active spring-damper during contact, absorbing impact shock to maintain stability.
BIOINSPIRATION & BIOMIMETICS
(2021)
Article
Computer Science, Artificial Intelligence
Yu-Chi Lin, Dmitry Berenson
Summary: This paper presents a method for efficient navigation planning by incorporating palm contacts, considering the difficulty of traversing the environment and using a combination of discrete planners and library-based methods. The results show that this approach greatly outperforms standard discrete planning in success rate and planning time.
Article
Computer Science, Information Systems
Satoshi Yagi, Yoshihiro Nakata, Yutaka Nakamura, Hiroshi Ishiguro
Summary: This paper studies emotional expressions of wheeled mobile humanoid robots during movement, and finds that motions with vertical oscillation are more easily recognized by observers, especially motions expressing happiness.
Article
Computer Science, Artificial Intelligence
Chencheng Dong, Zhangguo Yu, Xuechao Chen, Huanzhong Chen, Yan Huang, Qiang Huang
Summary: This article proposes a fuzzy control-based stability control method for humanoid robots, addressing the issues of center of mass (CoM) height changes and variable stiffness. Experimental results validate the effectiveness of the proposed method.
IEEE TRANSACTIONS ON FUZZY SYSTEMS
(2022)
Article
Automation & Control Systems
Jaesung Oh, Okkee Sim, Buyoun Cho, KangKyu Lee, Jun-Ho Oh
Summary: This article proposes a delayed reference generation method for a humanoid to stably imitate human walking. Teleoperation experiments using a data acquisition device and the HUBO2+ humanoid platform confirmed the effectiveness of the method in allowing the robot to imitate human footsteps stably under either static or dynamic walking conditions.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2021)
Article
Automation & Control Systems
Qingqing Li, Fei Meng, Zhangguo Yu, Xuechao Chen, Qiang Huang
Summary: This article presents a dynamic torso compliance method for position-controlled humanoid robots to adapt to unknown external disturbances while standing or walking. The method comprises two independent controllers to achieve compliant behavior and maintain balance, allowing the robot to perform dynamic torso compliance while standing or walking in complex environments.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2021)
Article
Robotics
David Wisth, Marco Camurri, Maurice Fallon
Summary: VILENS is a factor graph-based odometry system for legged robots, which achieves reliable operation by tightly fusing four different sensor modalities. It extends the robot's state with a linear velocity bias term to minimize leg odometry drift and has been extensively validated in various scenarios, showing significant improvement compared to traditional methods.
IEEE TRANSACTIONS ON ROBOTICS
(2023)
Article
Computer Science, Information Systems
Qilun Wang, Qing Li, Mingguo Zhao
Summary: This study presents a novel reactive terrain estimation system for humanoid robots using a state observer. By combining impedance system and gait planning, the designed observer effectively reduces terrain estimation errors, improves accuracy, and enhances the stability of the control system.
Article
Computer Science, Information Systems
Chengyu Cui, Sungkwon Park
Summary: This paper proposes the design concepts of IRN architectures for humanoid robots and discusses the network requirements to achieve perception abilities and action execution abilities. By analyzing the limitations of existing robots and using various network technologies and protocols, three feasible IRN architectures are proposed.
Article
Robotics
Ko Yamamoto, Taiki Ishigaki, Yoshihiko Nakamura
Summary: This study introduces a compliance optimization approach that satisfies positive definiteness, demonstrating that minimizing Riemannian geodesic distance results in better control performance.
IEEE TRANSACTIONS ON ROBOTICS
(2022)
Article
Computer Science, Information Systems
Shih-Yi Chien, Yi-Ling Lin, Bu-Fang Chang
Summary: This study investigates the favorable communication approaches for social humanoid robots (SHRs) and explores the influence of social manner and expressive behavior on user perceptions and human-robot interaction experience. The findings provide strong evidence that these factors significantly affect participant perceptions of robots and the resultant HRI experience.
INFORMATION SYSTEMS FRONTIERS
(2022)
Article
Automation & Control Systems
Iori Kumagai, Mitsuharu Morisawa, Takeshi Sakaguchi, Shin'ichiro Nakaoka, Kenji Kaneko, Hiroshi Kaminaga, Shuuji Kajita, Mehdi Benallegue, Rafael Cisneros, Fumio Kanehiro
IEEE ROBOTICS & AUTOMATION MAGAZINE
(2019)
Article
Robotics
Mitsuharu Morisawa, Rafael Cisneros, Mehdi Benallegue, Iori Kumagai, Adrien Escande, Fumio Kanehiro
INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS
(2020)
Article
Robotics
Mehdi Benallegue, Jean-Paul Laumond, Alain Berthoz
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
(2020)
Proceedings Paper
Engineering, Biomedical
Mehdi Benallegue, Jean-Paul Laumond
BIOMECHANICS OF ANTHROPOMORPHIC SYSTEMS
(2019)
Article
Robotics
Francois Bailly, Justin Carpentier, Mehdi Benallegue, Bruno Watier, Philippe Soueres
IEEE ROBOTICS AND AUTOMATION LETTERS
(2019)
Proceedings Paper
Computer Science, Artificial Intelligence
Rafael Cisneros, Mehdi Benallegue, Abdelaziz Benallegue, Mitsuharu Morisawa, Herve Audren, Pierre Gergondet, Adrien Escande, Abderrahmane Kheddar, Fumio Kanehiro
2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
(2018)
Proceedings Paper
Robotics
Mitsuharu Morisawa, Rafael Cisneros, Mehdi Benallegue, Iori Kumagai, Adrien Escande, Fumio Kanehiro
2018 IEEE-RAS 18TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS)
(2018)
Proceedings Paper
Robotics
Shuuji Kajita, Mehdi Benallegue, Rafael Cisneros, Takeshi Sakaguchi, Shin'ichiro Nakaoka, Mitsuharu Morisawa, Hiroshi Kaminaga, Iori Kumagai, Kenji Kaneko, Fumio Kanehiro
2018 IEEE-RAS 18TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS)
(2018)
Proceedings Paper
Robotics
Rafael Cisneros, Mehdi Benallegue, Mitsuharu Morisawa, Eiichi Yoshida, Kazuhito Yokoi, Fumio Kanehiro
2018 IEEE-RAS 18TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS)
(2018)
Proceedings Paper
Robotics
Jean-Paul Laumond, Mehdi Benallegue, Justin Carpentier, Alain Berthoz
ROBOTICS RESEARCH, VOL 2
(2018)
Proceedings Paper
Automation & Control Systems
Mehdi Benallegue, Pierre Gergondet, Herve Audren, Alexis Mifsud, Mitsuharu Morisawa, Florent Lamiraux, Abderrahmane Kheddar, Fumio Kanehiro
2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)
(2018)
Proceedings Paper
Computer Science, Artificial Intelligence
Shuuji Kajita, Mehdi Benallegue, Rafael Cisneros, Takeshi Sakaguchi, Shin'ichiro Nakaoka, Mitsuharu Morisawa, Kenji Kaneko, Fumio Kanehiro
2017 IEEE-RAS 17TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTICS (HUMANOIDS)
(2017)
Proceedings Paper
Computer Science, Artificial Intelligence
Mehdi Benallegue, Abdelaziz Benallegue, Yacine Chitour
2017 IEEE-RAS 17TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTICS (HUMANOIDS)
(2017)
Proceedings Paper
Computer Science, Artificial Intelligence
T. Flayols, A. Del Prete, P. Wensing, A. Mifsud, M. Benallegue, O. Stasse
2017 IEEE-RAS 17TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTICS (HUMANOIDS)
(2017)
Article
Automation & Control Systems
Justin Carpentier, Mehdi Benallegue, Jean-Paul Laumond
INTERNATIONAL JOURNAL OF AUTOMATION AND COMPUTING
(2017)