Advertisement

Journal of Intelligent & Robotic Systems

, Volume 95, Issue 1, pp 19–46 | Cite as

Optimization of Vehicle Mounting Motions and Its Application to Full-Sized Humanoid, DRC-Hubo

  • Kiwon SohnEmail author
Article
  • 139 Downloads

Abstract

This paper describes optimization of humanoid’s whole body motion for vehicle mounting task. To accomplish the goal, a trajectory optimization framework based on the reinforcement learning agent is used in this study. The guideline input trajectory is planned and optimized as regards various dynamic and kinematic limitations of humanoid in the framework. In previous studies, the authors demonstrated test-and-evaluation process of the framework using a full-sized humanoid, Hubo+. Experimental testing however presented several problems like overheating and self-collisions. To resolve those issues and to validate the trajectory optimization approach, another humanoid, called DRC-Hubo, is newly designed. Keeping a main structure of the optimization framework, the cost value functions are revised to meet dynamic and kinematic changes. Experimental test and verification process using a simulation model and a physical prototype is demonstrated to confirm the efficacy of the trajectory optimization approach. For both processes, two different types of ground vehicle are used. Last, analytical comparisons with other techniques are also conducted for validation of the proposed framework.

Keywords

Humanoids Vehicle mounting Optimization Reinforcement learning DRC-Hubo Darpa robotics challenge 

Notes

Supplementary material

10846_2018_835_MOESM1_ESM.mp4 (43 mb)
(MP4 43.0 MB)

References

  1. 1.
    Robot Olympics: 17 Cyborg Athletes to Vie for Glory in DARPA Challenge, livescience (2013)Google Scholar
  2. 2.
    DARPA’s Rescue-Robot Showdown: Robots face off in first phase of DARPA’s Robotics Challenge, IEEE Spectrum (2013)Google Scholar
  3. 3.
    http://www.darpa.mil, Tactical Technology Office, DARPA (2012)
  4. 4.
    http://archive.darpa.mil/roboticschallengetrialsarchive/, Darpa Robotics Challenge Trials 2013, DARPA (2015)
  5. 5.
    http://www.theroboticschallenge.org/, Darpa Robotics Challenge Finals 2015, DARPA (2015)
  6. 6.
    Sofge, E.: Robots are terrible at driving cars, popular science (2015)Google Scholar
  7. 7.
    WPI Robotics Team Finishes in 7th Place in National Competition, Worcester polytechnic institute news (2013)Google Scholar
  8. 8.
    Hasunuma, H., Nakashima, K., Kobayashi, M., Mifune, F., Yanagiharat, Y., Ueno, T., Ohya, K., Yokoi, K.: A Tele-operated Humanoid Robot Drives a Backhoe. In: IEEE International Conference on Robotics and Automation (ICRA), vol. 3, pp. 2998–3004, Taipei, Taiwan (2003)Google Scholar
  9. 9.
    Kavraki, L.: Probabilistic Roadmaps for Path Planning in High-Dimensional Configuration Spaces. In: IEEE Transactions on Robotics and Automation, 12-4, pp. 566–580 (1996)Google Scholar
  10. 10.
    Matsui, D., Minato, T., MacDorman, K.F., Ishiguro, H.: Generating Natural Motion in an Android by Mapping Human Motion. In: IEEE International Conference on Intelligent Robots and Systems (IROS) pp. 3301–3308, Alberta, Canada (2005)Google Scholar
  11. 11.
    Sohn, K., Oh, P.: Applying human motion capture to design energy-efficient trajectories for miniature humanoids. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Algarve, Portugal, pp. 3425–3431 (2012)Google Scholar
  12. 12.
    Sohn, K.: Optimization of Humanoid’s Motions under Multiple Constraints in Vehicle-Handling Task, PhD Thesis, Department of Mechanical Engineering and Mechanics. Drexel University, PA (2014)Google Scholar
  13. 13.
    Sohn, K., Oh, P.: Optimization of Humanoid’s Motions under Multiple Constraints in Ingress Task. In: Journal of Intelligent Service Robotics (ISR), pp. 1–18. Springer (2015)Google Scholar
  14. 14.
    Diankov, R.: Automated Construction of Robotics Manipulation Programs, PhD Thesis, Robotics Institute, Carnegie Mellon University (2010)Google Scholar
  15. 15.
    Oh, J.: DRC-Hubo (http://hubolab.kaist.ac.kr/p_drchubo). Critical Design Review of DARPA Robotics Challenge Trials 2013, Philadelphia, USA (2013)
  16. 16.
    Berenson, D., Srinivasa, S.S., Ferguson, D., Collet, A., Kuffner, J.: Manipulation planning with workspace goal regions. In: IEEE International Conference on Robotics and Automation (ICRA), Kobe, Japan, pp. 618–624 (2009)Google Scholar
  17. 17.
    Qiu, Z., Escande, A., Micaelli, A., Robert, T.: A Hierarchical Framework for Realizing Dynamically-stable Motions of Humanoid Robot in Obstacle-cluttered Environments. In: IEEE-RAS International Conference on Humanoid Robots (Humanoids), Osaka, Japan, pp. 867–874 (2012)Google Scholar
  18. 18.
    Bouyarmane, K., Vaillant, J., Keith, F., Kheddar, A.: Exploring Humanoid Robots Locomotion Capabilities in Virtual Disaster Response Scenarios. In: 12th IEEE-RAS International Conference on Humanoid Robot (Humanoids), Osaka, Japon, pp. 337–342 (2012)Google Scholar
  19. 19.
    Watkins, C.J.C.H.: Learning from Delayed Rewards. PhD thesis, Cambridge University (1989)Google Scholar
  20. 20.
    Kwatny, H.G., Blankenship, G.: Nonlinear Control and Analytical Mechanics: A Computational Approach (Control Engineering), 1edition. Birkhauser, Boston (2000)CrossRefzbMATHGoogle Scholar
  21. 21.
    Ellenberg, R., Oh, P.: Contact Wrench Space Stability Estimation for Humanoid Robots, IEEE International Conference on Technologies for Practical Robot Applications (tePRA), Woburn, MA, pp. 1–6 (2014)Google Scholar
  22. 22.
    Rusu, R., Cousins, S.: 3D is here: point cloud library (PCL), IEEE International Conference on Robotics and Automation (ICRA), pp. 1–4 (2011)Google Scholar
  23. 23.
    Deza, E., Deza, M.M.: Encyclopedia of Distances. Springer, Berlin (2009)CrossRefzbMATHGoogle Scholar
  24. 24.
    Paolillo, A., Gergondet, P., Cherubini, A., Vendittelli, M., Kheddar, A.: Autonomous car driving by a humanoid robot. J. Field Rob. 35(2), 169–186 (2017)CrossRefGoogle Scholar
  25. 25.
    Whitaker, I.: UNLV comes in eighth in international robotics competition, Las Vegas Sun (2015)Google Scholar

Copyright information

© Springer Science+Business Media B.V., part of Springer Nature 2018

Authors and Affiliations

  1. 1.Electrical and Computer Engineering DepartmentUniversity of HartfordWest HartfordUSA

Personalised recommendations