Humanoid Robotics Laboratory
Humanoid Robotics Laboratory
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ItemKinematics and Inverse Kinematics for the Humanoid Robot HUBO2+(Georgia Institute of Technology, 2013) O’Flaherty, Rowland ; Vieira, Peter ; Grey, Michael ; Oh, Paul ; Bobick, Aaron F. ; Egerstedt, Magnus B. ; Stilman, Mike ; Georgia Institute of Technology. Center for Robotics and Intelligent Machines ; Georgia Institute of Technology. College of ComputingThis paper derives the forward and inverse kinematics of a humanoid robot. The specific humanoid that the derivation is for is a robot with 27 degrees of freedom but the procedure can be easily applied to other similar humanoid platforms. First, the forward and inverse kinematics are derived for the arms and legs. Then, the kinematics for the torso and the head are solved. Finally, the forward and inverse kinematic solutions for the whole body are derived using the kinematics of arms, legs, torso, and head.
ItemHumanoid Robot Teleoperation for Tasks with Power Tools(Georgia Institute of Technology, 2013-04) O’Flaherty, Rowland ; Vieira, Peter ; Grey, M. X. ; Oh, Paul ; Bobick, Aaron F. ; Egerstedt, Magnus B. ; Stilman, Mike ; Georgia Institute of Technology. Center for Robotics and Intelligent Machines ; Drexel UniversityThis paper presents the implementation of inverse kinematics to achieve teleoperation of a physical humanoid robot platform. The humanoid platform will be used to compete in the DARPA Robot Challenge, which requires autonomous execution of various search and rescue tasks, such as cutting through walls, which is a very practical application to robotics. Using a closed-form kinematic solution and a basic feedback controller, our objective of executing simple tasks is realized via teleoperation. Joint limits and singularities are accounted for using the different cases in the kinematic solution; and a decision method is implemented to determine how to position the end-effector when the goal is outside the feasible workspace.
ItemMulti-Process Control Software for HUBO2 Plus Robot(Georgia Institute of Technology, 2013-04) Grey, M .X. ; Dantam, Neil ; Lofaro, Daniel M. ; Bobick, Aaron F. ; Egerstedt, Magnus B. ; Oh, Paul ; Stilman, Mike ; Georgia Institute of Technology. Center for Robotics and Intelligent Machines ; Drexel UniversityHumanoid robots require greater software reliability than traditional mechantronic systems if they are to perform useful tasks in typical human-oriented environments. This paper covers a software architecture which distributes the load of computation and control tasks over multiple processes, enabling fail-safes within the software. These fail-safes ensure that unexpected crashes or latency do not produce damaging behavior in the robot. The distribution also offers benefits for future software development by making the architecture modular and extensible. Utilizing a low-latency inter-process communication protocol (Ach), processes are able to communicate with high control frequencies. The key motivation of this software architecture is to provide a practical framework for safe and reliable humanoid robot software development. The authors test and verify this framework on a HUBO2 Plus humanoid robot.