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A virtual tactile sensing suit for humanoids based on dynamic equations and internal sensors

Publications associées (33)

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Designing a virtual whole body tactile sensor suit for a simulated humanoid robot using inverse dynamics

Auke Ijspeert, Salman Faraji

In this paper, we propose a novel architecture to estimate external forces applied to a compliantly controlled balancing robot in simulations. We use similar dynamics equations used in the controller to find mismatches in the available sensory data and ass ...

Ieee2016

Practical considerations in using inverse dynamics on a humanoid robot: torque tracking, sensor fusion and Cartesian control laws

Auke Ijspeert, Salman Faraji, Luca Colasanto

Although considering dynamics in the control of humanoid robots can improve tracking and compliance in agile tasks, it requires local and global states of the system, precise torque control and proper modeling. In this paper we discuss practical issues to ...

2015

Real-time full body motion imitation on the COMAN humanoid robot

Auke Ijspeert, Florin Dzeladini, Jesse van den Kieboom

On-line full body imitation with a humanoid robot standing on its own two feet requires simultaneously maintaining the balance and imitating the motion of the demonstrator. In this paper we present a method that allows real-time motion imitation while main ...

Cambridge Univ Press2015

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The human foot plays a key role in human walking providing, among others, body support and propulsion, stability of the movement and impact absorption. These fundamental functionalities are accomplished by an extraordinarily rich bio-mechanical design. Non ...

IEEE2015

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We investigate the role of obstacle avoidance in visually guided reaching and grasping movements. We report on a human study in which subjects performed prehensile motion with obstacle avoidance where the position of the obstacle was systematically varied ...

Springer2014

Even the most rudimentary social cues may evoke affiliative responses in humans and promote socialcommunication and cohesion. The present work tested whether such cues of an agent may also promotecommunicative interactions in a nonhuman primate species, by ...

Springer Verlag2014

Stretchable capacitive tactile skin on humanoid robot fingers - first experiments and results

Aude Billard, Stéphanie Lacour, Nicolas Sommer, Aaron Powers Gerratt

A stretchable tactile sensor skin has been demonstrated on the dorsal side of a robotic hand for the first time. The sensors can detect normal pressures on the same scale as human skin but also in excess of 250 kPa and withstand strains in excess of 15%. U ...

2014

This paper introduces a framework for state estimation on a humanoid robot platform using only common proprioceptive sensors and knowledge of leg kinematics. The presented approach extends that detailed in prior work on a point-foot quadruped platform by a ...

2014

In this paper we propose a general control framework for ensuring stability of humanoid robots, determined through a normalized zero-moment-point (ZMP). The proposed method is based on the modified prioritized kinematic control, which allows smooth and con ...

2013

This paper presents an experiment in which the iCub humanoid robot learns to recognize faces through proprioceptive information. We take inspiration in the way blind people recognize people's faces, i.e. through tactile exploration of the person's face. Th ...

2012