"The Partner Robot team members are committed to using the technology in T-HR3 to develop friendly and helpful robots that coexist with humans and assist them in their daily lives. Looking ahead, the core technologies developed for this platform will help inform and advance future development of robots to provide ever-better mobility for all," said Akifumi Tamaoki, General Manager, Partner Robot Division.
ICRA is almost over, and we hope you've been enjoying our coverage, which so far has featured robot moths, zipper actuators, machine learning, and duckies. We'll have lots more from the converence over the next few weeks, but for you impatient types, we're cramming Video Friday this week with a painstakingly curated selection of ICRA videos--emphasis on pain: there were nearly 500 videos! We tried to include videos from many different areas of robotics: control, sensing, humanoids, actuators, exoskeletons, manipulators, prosthetics, aerial vehicles, grasping, AI, VR, haptics, vision, and microrobots. We're posting the abstracts along with the videos, but if you have any questions about these projects, let us know and we'll get more details from the authors. Have a great weekend everyone! We present an adaptive filter model of cerebellar function applied to the calibration of a tactile sensory map to improve the accuracy of directed movements of a robotic manipulator.
EPFL's Pleurobot is, obviously, our favorite robot salamander. This is likely because it looks so much like a real salamander, but more importantly, it moves just like a real salamander. Or, to be more specific, EPFL has spent years trying to make sure that the way Pleurobot moves is as close to the way that a real salamander moves as possible. In a new paper just published in the Royal Society journal Interface, EPFL researchers describe how they've combined "high-speed cineradiography, optimization, dynamic scaling, three-dimensional printing, high-end servomotors, and a tailored dry-suit" to refine their robot to accurately capture the degrees of freedom, range of motion, and gait behaviors of the real animal. Primarily, it's because they're cute, but there are a variety of much less important considerations that make salamanders interesting to study as well.
Last week we participated in The IEEE-RAS International Conference on Humanoid Robots (Humanoids) as Gold Sponsors. We took part in the workshops'Towards physical-social human-robot interaction,' and'TALOS: Status & Progress', as invited speakers, as well as offering a Virtual Tour of our legged robots including our latest projects, SOLO12 & Kangaroo. The IEEE-RAS International Conference on Humanoid Robots is the internationally recognized prime event of the humanoid robotics community. Established in 2000 and held annually, the Humanoids Conference is a forum for researchers working in the area of humanoid robots including mechatronics, control, perception, planning, learning, human-robot interaction, biomechanics, artificial intelligence, cognition, and neuroscience. Although this year's event took place virtually, PAL Robotics has previously taken part in Humanoids Conferences around the world, including in Toronto, and Beijing in recent years. At the event, we offered a Virtual Tour of all of our legged robots featuring our Humanoids Team: Sai Kishor, Adrià Roig, and Narcis Miguel.
A common strategy today to generate efficient locomotion movements is to split the problem into two consecutive steps: the first one generates the contact sequence together with the centroidal trajectory, while the second one computes the whole-body trajectory that follows the centroidal pattern. Yet the second step is generally handled by a simple program such as an inverse kinematics solver. In contrast, we propose to compute the whole-body trajectory by using a local optimal control solver, namely Differential Dynamic Programming (DDP). Our method produces more efficient motions, with lower forces and smaller impacts, by exploiting the Angular Momentum (AM). With this aim, we propose an original DDP formulation exploiting the Karush-Kuhn-Tucker constraint of the rigid contact model. We experimentally show the importance of this approach by executing large steps walking on the real HRP-2 robot, and by solving the problem of attitude control under the absence of external forces.