HARMONIOUS - Human-like reactive motion control and multimodal perception for humanoid robots

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F25%3A00376653" target="_blank" >RIV/68407700:21230/25:00376653 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.1109/TRO.2024.3502216" target="_blank" >https://doi.org/10.1109/TRO.2024.3502216</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/TRO.2024.3502216" target="_blank" >10.1109/TRO.2024.3502216</a>

Jazyk výsledku

angličtina

Název v původním jazyce

HARMONIOUS - Human-like reactive motion control and multimodal perception for humanoid robots

Popis výsledku v původním jazyce

For safe and effective operation of humanoid robots in human-populated environments, the problem of commanding a large number of degrees of freedom (DoFs) while simultaneously considering dynamic obstacles and human proximity has still not been solved. In this article, we present a new reactive motion controller that commands two arms of a humanoid robot and three torso joints (17 DoF in total). We formulate a quadratic program that seeks joint velocity commands respecting multiple constraints while minimizing the magnitude of the velocities. We introduce a new unified treatment of obstacles that dynamically maps visual and proximity (precollision) and tactile (postcollision) obstacles as additional constraints to the motion controller, in a distributed fashion over the surface of the upper body of the iCub robot (with 2000 pressure-sensitive receptors). This results in a bioinspired controller that: first, gives rise to a robot with whole-body visuo-tactile awareness, resembling peripersonal space representations, and, second, produces human-like minimum jerk movement profiles. The controller was extensively experimentally validated, including a physical human–robot interaction scenario.

Název v anglickém jazyce

HARMONIOUS - Human-like reactive motion control and multimodal perception for humanoid robots

Popis výsledku anglicky

For safe and effective operation of humanoid robots in human-populated environments, the problem of commanding a large number of degrees of freedom (DoFs) while simultaneously considering dynamic obstacles and human proximity has still not been solved. In this article, we present a new reactive motion controller that commands two arms of a humanoid robot and three torso joints (17 DoF in total). We formulate a quadratic program that seeks joint velocity commands respecting multiple constraints while minimizing the magnitude of the velocities. We introduce a new unified treatment of obstacles that dynamically maps visual and proximity (precollision) and tactile (postcollision) obstacles as additional constraints to the motion controller, in a distributed fashion over the surface of the upper body of the iCub robot (with 2000 pressure-sensitive receptors). This results in a bioinspired controller that: first, gives rise to a robot with whole-body visuo-tactile awareness, resembling peripersonal space representations, and, second, produces human-like minimum jerk movement profiles. The controller was extensively experimentally validated, including a physical human–robot interaction scenario.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

<a href="/cs/project/GX20-24186X" target="_blank" >GX20-24186X: Vědomí celého povrchu těla pro bezpečnou a přirozenou interakci: od mozku ke kolaborativním robotům</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2025

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

IEEE Transactions on Robotics

ISSN

1552-3098

e-ISSN

1941-0468

Svazek periodika

41

Číslo periodika v rámci svazku

Jan

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

16

Strana od-do

378-393

Kód UT WoS článku

001377255400001

EID výsledku v databázi Scopus

2-s2.0-86000387293