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2016 Fiscal Year Annual Research Report

Cutting-edge multi-contact behaviors

Research Project

Project/Area Number 16H02886
Research InstitutionNational Institute of Advanced Industrial Science and Technology

Principal Investigator

Kheddar Abder  国立研究開発法人産業技術総合研究所, 情報・人間工学領域, 国際客員研究員 (90572082)

Co-Investigator(Kenkyū-buntansha) 森澤 光晴  国立研究開発法人産業技術総合研究所, 情報・人間工学領域, 主任研究員 (00392671)
金広 文男  国立研究開発法人産業技術総合研究所, 情報・人間工学領域, 研究グループ長 (70356806)
吉田 英一  国立研究開発法人産業技術総合研究所, 情報・人間工学領域, 副研究部門長 (30358329)
Project Period (FY) 2016-04-01 – 2019-03-31
Keywords知能ロボティクス / ディジタルヒューマンモデル / 多点接触動作 / 機械学習 / 最適化
Outline of Annual Research Achievements

We devised a framework for real-time online and offline retargeting of a human actor motion to a humanoid robot motion involving multi-contact configuration changes between the human/humanoid and their environments. The framework is based on the specification within a multi-contact QP control formulation of tracking tasks for a selected set of body-segments/links, used as contact supports or as locomotion supports on the environment. The framework is applied in an online setting for simultaneous human-robot motion tracking and as a necessary motion information exploited by the tracking algorithm. This approach is validated on a real robot experiment with HRP-4.
We have also proposed a novel technique for unobtrusively estimating interaction forces exerted by human subjects in multi-contact. Our method uses motion capture only, which is particularly challenging, as the knowledge of a given motion only characterizes the resultant force. We collect a large-scale dataset on how humans instinctively regulate interaction forces on diverse multi-contact tasks and motions. The force estimation framework leverages physics-based optimization to reconstruct force distributions that are simultaneously physically realistic.
We are still at the investigation stages for the two issues (2) development of multi-contact taxonomies and study of contact invariants and (3) deep learning of multi-contact planning strategies, to figure out what could be the good features to learn and how the problem is to be formulated.

Current Status of Research Progress
Current Status of Research Progress

2: Research has progressed on the whole more than it was originally planned.

Reason

For FY2016 we have achieved multi-contact human capture set-up and observations and developed a novel technique for unobtrusively estimating interaction forces, which has been published and obtained an award in an international conference. The research on taxonomy and deep learning is still in progress, but we have already started some subjects and obtained results on contact stability analysis and closed-loop control planned in FY2017 and FY2018 respectively. We then estimate the project is advancing as expected.

Strategy for Future Research Activity

We will continue the research as planned in the project that is divided in WP1 (FY206) to WP3 (FY2018). There could however be some subjects in each WPs that may delay compared to the plans due to unexpected reasons. In those cases, we identify the topics that can be tackled in the upcoming WPs as much as possible while trying to catch up the remaining work.

  • Research Products

    (6 results)

All 2017 2016 Other

All Int'l Joint Research (1 results) Journal Article (4 results) (of which Peer Reviewed: 4 results) Book (1 results)

  • [Int'l Joint Research] 国立科学研究センター (CNRS)(フランス)

    • Country Name
      FRANCE
    • Counterpart Institution
      国立科学研究センター (CNRS)
  • [Journal Article] Multi-contact motion retargeting from human to humanoid robot2016

    • Author(s)
      Di Fava Alessandro、Bouyarmane Karim、Chappellet Kevin、Ruffaldi Emanuele、Kheddar Abderrahmane
    • Journal Title

      Proc. IEEE-RAS International Conference on Humanoid Robots

      Volume: 1 Pages: 1081-1086

    • DOI

      10.1109/HUMANOIDS.2016.7803405

    • Peer Reviewed
  • [Journal Article] Whole-body contact force sensing from motion capture2016

    • Author(s)
      Pham Tu-Hoa、Bufort Adrien、Caron Stephane、Kheddar Abderrahmane
    • Journal Title

      Proc. IEEE/SICE International Symposium on System Integration

      Volume: 1 Pages: 58-63

    • DOI

      10.1109/SII.2016.7843975

    • Peer Reviewed
  • [Journal Article] Stability polygons reshaping and morphing for smooth multi-contact transitions and force control of humanoid robots2016

    • Author(s)
      Audren Herve、Kheddar Abderrahmane、Gergondet Pierre
    • Journal Title

      Proc. IEEE-RAS International Conference on Humanoid Robots

      Volume: 1 Pages: 1037-1044

    • DOI

      10.1109/HUMANOIDS.2016.7803399

    • Peer Reviewed
  • [Journal Article] Closed-loop RGB-D SLAM multi-contact control for humanoid robots2016

    • Author(s)
      Tanguy Amaud、Gergondet Pierre、Comport Andrew I.、Kheddar Abderrahmane
    • Journal Title

      Proc. IEEE/SICE International Symposium on System Integration

      Volume: 1 Pages: 51-57

    • DOI

      10.1109/SII.2016.7843974

    • Peer Reviewed
  • [Book] ロボット制御学ハンドブック2017

    • Author(s)
      松野 文俊、大須賀 公一、松原 仁、野田 五十樹、稲見 昌彦
    • Total Pages
      1024
    • Publisher
      近代科学社
    • ISBN
      978-4-7649-0473-6

URL: 

Published: 2018-12-17  

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