Social and Behavioral Sciences Commons^™

Humanoid Human-Like Reaching Control Based On Movement Primitives, Minh Tuan Tran, Philippe Souères, Michel Taix, Manish Sreenivasa, Christophe Halgand

Faculty of Engineering and Information Sciences - Papers: Part B

This paper deals with the problem of generating realistic human-like reaching movements from a small set of movement primitives. Two kinds of movement databases are used as reference. The first one is obtained numerically, by applying biological principles of motor control on the dynamic model of the robot arm. The second one is obtained by recording reaching movements of human subjects. From these databases, primitives are extracted and analyzed by using Principal Component Analysis. An original generalization method is then proposed for generating movements that did not belong to the initial database. We show that twenty primitives allow to produce …

Hrp-2 Plays The Yoyo: From Human To Humanoid Yoyo Playing Using Optimal Control, Katja Mombaur, Manish Sreenivasa

Faculty of Engineering and Information Sciences - Papers: Part B

Yoyo playing may seem easy for a human, but it is a challenging problem for a humanoid robot. This paper presents an approach to generate yoyo motions for the humanoid robot, HRP-2, based on motion recorded from human yoyo playing, dynamical models and numerical optimal control techniques. We recorded vertical yoyo playing of 4 subjects measuring yoyo height and rotation angle as well as the corresponding hand motions. A detailed multi-phase yoyo model with impact collisions and control patterns of human yoyo playing were identified from these measurements. Based on this knowledge, reliable yoyo motions within the feasibility ranges of …

Theoretical Expression Of Compressibility Behaviour Of Warp Knitted Spacer Fabrics, Fatemeh Mokhtari, Mahnaz Shamshirsaz, Masoud Latifi, Mohammad Maroufi

Faculty of Engineering and Information Sciences - Papers: Part B

Nowadays, 3-D spacer fabrics characteristics become a highly interested concept for textile researchers. These products have extensive application in automobile, locomotive, aerospace, building and other industries. Several techniques could be applied to produce spacer fabrics using woven, weft and warp knitting technology. Warp knitting is the most commonly used technology for production of spacer fabrics. Spacer fabrics present special characteristics compared to conventional textiles due to their wonderful porous 3-D structures. The compression resistance is a distinct feature beneficial for the structural stability of spacer fabrics, and it is proper to fulfil permanent or instant loading and recovery requirements.

The …

Coal Properties And Mine Operational Factors That Impact Gas Drainage, Dennis J. Black, Naj Aziz

Faculty of Engineering and Information Sciences - Papers: Part B

Advances in coal production over the last 20 years have led to an increase in coal mine gas emissions. These gas emissions, if not effectively managed, may exceed the diluting capacity of the mine’s ventilation system resulting in gas concentrations in excess of statutory limits and the presence of an unsafe condition within the mine. Where such conditions exist it is typical for production to be slowed or stopped until such time as the rate of gas emission is effectively controlled and managed. This paper discusses the findings of a research project based on an underground mine operating in the …

Design Of A Flexural Transmission For A Dexterous Telesurgical Robot For Throat And Upper Airway: A Preliminary Result, Chin-Hsing Kuo, Russell H. Taylor, Jian S. Dai, I. Iordachita

Faculty of Engineering and Information Sciences - Papers: Part B

No abstract provided.

Development Of A Family Of High Strength Low Carbon Microalloyed Ultra-Thin Cast Strip Products Produced By The Castrip® Process, Chris R. Killmore, Kristin R. Carpenter, Harold R. Kaul, James G. Williams, Daniel G. Edelman, Peter C. Campbell, Walter N. Blejde

Faculty of Engineering and Information Sciences - Papers: Part B

The manufacture of high strength strip products in strip thicknesses less than 1.5mm is very challenging for the conventional hot and cold rolled processing routes. A range of Nb and Nb/V microalloyed steels have been successfully strip cast by the CASTRIP process enabling the development of a range of high strength Ultra-Thin Cast Strip (UCS) products. It was found that the CASTRIP process fully exploits the strengthening potential of the low C-Mn-Nb-(V) alloy design system. Substantial strengthening by microstructural hardening was provided by Nb. Retention of Nb and V in solid solution in hot rolled coils enabled further strengthening by …

Inverse Optimal Control As A Tool To Understand Human Yoyo Playing, Katja Mombaur, Manish Sreenivasa

Faculty of Engineering and Information Sciences - Papers: Part B

This paper presents an inverse optimal control approach to identify objective functions of human motion from motion capture measurements. We apply it to analyze human yoyo playing. Yoyo playing may seem easy to us to learn but it is a challenging problem from a mechanical point of view involving a hybrid dynamics model. We recorded vertical yoyo playing of humans measuring yoyo height and rotation angle as well as the corresponding hand motions. Results of inverse optimal control are presented showing a mixed criterion of cycle time and terms depending on yoyo and hand acceleration and velocity.

On Using Human Movement Invariants To Generate Target-Driven Anthropomorphic Locomotion, Manish Sreenivasa, Philippe Souères, Jean-Paul Laumond

Faculty of Engineering and Information Sciences - Papers: Part B

We present a method for generating anthropomorphic motion by studying `invariants' in human movements and applying them as kinematic tasks. We recorded whole-body motion of 14 participants during a walking and grasping task and performed a detailed analysis in order to synthesize the stereotypy in human motion as rules. We propose an algorithm that produces the key parameters of motion taking into account the knowledge from human movement, and the limitations of the anthropomorph. We generalize our results such that we can create motion parameters for objects which were not in the original protocol. The algorithmic output is applied in …

On Real-Time Whole-Body Human To Humanoid Motion Transfer, Francisco-Javier Montecillo-Puente, Manish Sreenivasa, Jean-Paul Laumond

Faculty of Engineering and Information Sciences - Papers: Part B

We present a framework for online imitation of human motion by the humanoid robot HRP-2. We introduce a representation of human motion, the humanoid-Normalized model, and a Center of Mass (CoM) anticipation model to prepare the robot in case the human lifts his/her foot. Our proposed motion representation codifies operational space and geometric information. Whole body robot motion is computed using a task-based prioritized inverse kinematics solver. By setting the human motion model as the target, and giving the maintenance of robot CoM a high priority, we can achieve a large range of motion imitation. We present two scenarios of …