Autonomous Valve Turning with an Atlas Humanoid Robot

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1、201414thIEEE-RASInternationalConferenceonHumanoidRobots(Humanoids)November18-20,2014.Madrid,SpainAutonomousValveTurningwithanAtlasHumanoidRobotWyattNewman,SeniorMemberIEEE,Zheng-HaoChong,CongDu,RobertT.W.Hung,Kit-HangLee,LiMa,TonyW.L.Ng,ChristopherE.Swetenham,KennethK.S.Tjoeng,Weiji

2、aWangvalveby90degandturnedavalvewheelonlypartoftheAbstract—FastvalveturningisdescribedusinganAtlashumanoidrobot.Anintegratedvalve-turningskillispresented,required360degrees.Incontrast,Alunnietal.presentedwhichonlyrequiresanoperatortoissueasupervisoryexperimentalresultsinwhichaPR-2r

3、obotperformedvalvecommandtolaunchvalveidentification,motionplanning,bipedturningautonomouslyinapproximately2minutes[5],whichlocomotionandvalvemanipulation.Usingcompliantmotionstronglymotivatestheuseofmoreautonomy.controlindual-arm,palmar(non-prehensile)manipulation,robustvalveturnin

4、gisachievedatspeedscomparabletohumanperformance.ComponentsintegratedwithinI.INTRODUCTIONthevalve-turningTeamHKU,basedatUniversityofHongKong,isskillinclude:competingintheDARPARoboticsChallenge(DRC)withagraphicaluserBostonDynamics,Inc.“Atlas”humanoidrobot[1].DARPAinteraction,valvechal

5、lengetasksaredetailedin[2].identificationandmodelfitting,TheAtlasrobot,showninFig.1,wasunveiledbyBostonworldmodellingDynamics,Inc.inJuly,2013.Only7Atlasrobotsexist:6ownedbyDARPA,plustheAtlasrobotprivatelyacquiredbyandlocalization,theUniversityofHongKong.AllAtlasrobotsweredeliveredap

6、proachposeequippedwithaCarnegieRoboticssensorhead.Forhands,planning,footstepHKUchosetheSandiahands[3].Atlas's28joints(notplanning,bipedalcountingtheSandiahandsnortherotatingLIDARonthelocomotion,andsensorhead)areelectrohydraulic.valveturning.ThesecomponentsTeamHKUdevelopedallofitsrob

7、otcontrolsoftwareinaredescribedROS(RobotOperatingSystem)[4].Oneofthechallengesofseparatelybelow,thiscompetitionistoidentifyanddesignappropriateuserandoverallsysteminterfacesforcontrollingarobotremotelyunderrestrictionsFigure1:HKUAtlasrobotclimbingperformanceisoflimitedcommunications

8、.rockpileatDRCtrial