A5027548256- Prosthetics and Rehabilitation Robotics
- Robotic Locomotion and Control
- Muscle activation and electromyography studies
- Robot Manipulation and Learning
- Iterative Learning Control Systems
- Advanced Sensor and Energy Harvesting Materials
- Real-time simulation and control systems
- Metal Extraction and Bioleaching
- Robotic Mechanisms and Dynamics
- Advanced Surface Polishing Techniques
- Adaptive Control of Nonlinear Systems
- Biomedical and Engineering Education
- Dynamics and Control of Mechanical Systems
- Soil Mechanics and Vehicle Dynamics
- Gaussian Processes and Bayesian Inference
- Minerals Flotation and Separation Techniques
- Effects of Vibration on Health
- Stroke Rehabilitation and Recovery
- Hydraulic and Pneumatic Systems
- Human Pose and Action Recognition
- Control Systems and Identification
- Balance, Gait, and Falls Prevention
- Zebrafish Biomedical Research Applications
- Motor Control and Adaptation
- Lower Extremity Biomechanics and Pathologies
California State University, Channel Islands
2018-2020
Italian Institute of Technology
2012-2018
California State University System
2018
Michigan Technological University
2016-2017
University of Manchester
2009-2012
In this work, we present WALK‐MAN, a humanoid platform that has been developed to operate in realistic unstructured environment, and demonstrate new skills including powerful manipulation, robust balanced locomotion, high‐strength capabilities, physical sturdiness. To enable these WALK‐MAN design actuation are based on the most recent advancements of series elastic actuator drives with unique performance features differentiate robot from previous state‐of‐the‐art compliant actuated robots....
A common disadvantage of multi-legged robots is that they often lack the manipulation capability. To overcome this limitation, an arm can be added to body robot, perform tasks and provide assistance for locomotion. First, we proposed attachment configuration a robot uniform workspace in front, below above base trunk. Second, integrated control framework promises keep mobility balance mobile platform provides precise capability incorporating payload estimation scheme. Finally, verify with...
We are interested in understanding the mechanisms behind and character of sway motion healthy human subjects during quiet standing. assume that a body can be modelled as single-link inverted pendulum, balance is achieved using linear feedback control. Using these assumptions, we derive switched model which then investigate. Stable periodic motions (limit cycles) about an upright position found. The existence limit cycles studied function system parameters. exploration parameter space leads...
This paper reports on development of an open source dynamic simulator for the Compliant huMANoid robot, COMAN. The key advantages this are: it generates efficient symbolic dynamical equations robot with high degrees freedom, includes a user-defined model actuator dynamics (the passive elasticity and DC motor equations), user defined ground models fall detection. Users have freedom to choose proposed features or include their own models. are generated in Matlab C languages, where can leverage...
This paper presents the design of a novel compliant joint for high performance mobility. The principle is based on an asymmetric antagonistic scheme which actuated by two motors different power capability and efficiency. Torques from are transmitted to through elastic elements stiffness energy storage capacity. proposed combines performance, large capacity physical resilience all necessary features performing mobility such as agile locomotion. introduces operation, mechanical implementation...
This paper describes the design of an ankle-foot robotic prosthesis controllable in sagittal and frontal planes. The was designed to meet mechanical characteristics human ankle including power, range motion, weight. To transfer power from motors gearboxes mechanism, a Bowden cable system used. allows for optimal placement order improve gait biomechanics such as metabolic energy cost asymmetry during locomotion. Additionally, it flexibility customization device amputees with different...
In this paper we combine Gaussian process regression and impedance control, to illicit robust, anthropomorphic, adaptive control of a powered ankle prosthesis. We learn the non-linear manifolds which guide how locomotion variables temporally evolve, regress that surface over velocity range create manifold. The joint set manifolds, as well temporal evolution gait-cycle duration is what term envelope. Current prostheses have problems adapting across speeds. It likely humans rely upon strategy...
This paper focuses on developing a robust tracking control scheme for compliant humanoid, COMAN. Passive compliance in COMAN offers many advantages terms of safe interaction with the environment and users. In case light tasks soft interaction, classical PD motor is sufficient. However, poses some challenges particular when robot's joints are under large gravitational forces or external disturbances. These scenarios include carrying heavy load, manipulating objects going up stairs where need...
This paper presents a passivity based compliance stabilizer for humanoid robots. The proposed is an admittance controller that uses the force/torque sensing in feet to actively regulate position controlled system. low stiffness provided by permits compliant interaction with external forces, and active damping control guarantees dissipating excessive energy delivered disturbances. Both theoretical work simulation validations are presented. effectiveness of demonstrated simulations simplified...
This paper focuses on the development of a dynamic model-free whole-body controller for humanoid robot with high kinematic redundancy. The proposed is based force-level operational-space control framework, which computes joint torques required forces prioritized multiple tasks. While typical approaches this framework require to obtain an accurate dynamics model, has been generally recognized as major hurdle overcome implementation in real robots, incorporates adaptive sliding-mode and online...
Abstract In ZMP trajectory generation using simple models, often a considerable amount of trials and errors are involved to obtain locally stable gaits by manually tuning the gait parameters. this paper 15 degrees Freedom dynamic model compliant humanoid robot is used, combined with reinforcement learning perform global search in parameter space produce gaits. It shown that for given speed, multiple sets parameters, namely step sizes lateral sways, obtained algorithm which can lead walking....
This paper introduces the design tuning of a recently introduced compliant actuation scheme that was developed to provide large energy storage capacity and demonstrate energetic efficient operation. The joint is based on an asymmetric antagonistic where torques from two motors are transmitted through elastic elements different stiffness level capacity. presents method used tune compliance shows how this can be select passive elasticity single degree freedom (DOF) hopping leg for improving...
The inverted pendulum model (IPM) represents better a human-like gait, however, its nonlinearity introduced by the impact during change of support leg prevents implementation. analytic feature Linear Inverted Pendulum Model (LIPM) makes it widely applied for bipedal gait control and balance recovery. We resolve solution issue IPM using principle orders in Taylor series, further prove predictive properties both models. Our theoretical simulation studies quantitatively compare these two models...
This paper studies the effect of passive and active impedance for protecting jumping robots from landing impacts. The theory force transmissibility is used selecting system to minimize shock propagation. regulated online by a joint-level controller. On top this controller, reflex-based leg retraction scheme implemented which optimized using direct policy search reinforcement learning based on particle filtering. Experiments are conducted both in simulation real-world hopping leg. We show...
This paper reports on an experimental study use of static full state linear feedback for link tracking control a compliant humanoid leg, cCub. Passive elasticity is used in pitch joints the cCub legs, offering many benefits terms safe interaction as opposed to rigid robots. However, makes problem more challenging particular tasks when robots are under large gravitational forces or external disturbances, such going up stairs. Therefore, this explores results applying LQR control, formulated...
Modelling and simulation is a critical stage in the design testing of complex systems, particular humanoid robots. Our motivation to develop new simulator that existing tools do not provide flexibility needed for modelling C-Cub, most recent open source robot with compliant joints developed at Italian Institute Technology (IIT). Furthermore, we are interested where user has ability customize order represent actuators sensors actually used. In this paper, based on Robotran, symbolic multibody...
Keeping balance is the main concern for humanoids in standing and walking tasks. This paper endeavors to acquire optimal ankle stabilization methods with passive active compliance explain balancing strategy from regulation perspective. Unlike classical stiff humanoids, compliant ones can control both impedance position during task operation. Optimal resolved maximize stability of humanoids. The linearized model proposed obtain stabilizing against impacts. nonlinear as well compared linear...
In this paper, we present a study on dynamic simulation to assist designing high performance compliant humanoid robot. An open source simulator is introduced which includes the rigid body and actuator dynamics of full A set representative tasks for robot in rescue operations are chosen simulated. The data from these used sizing motor transmission gear each joint It shown that tasks, most critical (in terms power consumption) knee joint. Furthermore, recently proposed optimization method...
Bipedal walking is one of the most interesting control problems in humanoids research.Walking modelled as a hybrid system sense that it involves various phases such single support phase, impacts with ground (i.e. state reset) and double phase.The has to provide good dynamic performance these different modes achieve fast speeds while guaranteeing its safe robust operation.Most use local joint PID loops (decentralized) systems robot multivariable significant interactions between links.Hence...
Reference-spreading based trajectory tracking is a recently introduced control strategy for hybrid systems with state-triggered jumps that allows to handle the time mismatch between nominal and closed-loop impact times. In this paper, we demonstrate approach can even change in state dimension corresponding to, e.g., activation of unilateral contact constraint occurring when dealing mechanical experiencing inelastic impacts. We effectiveness by means simulations, addressing problem two-link...