RBE COLLOQUIUM SERIES
Speaker: Shlok Agarwal
Advisor: Marko Popovic
Accepted by: 2018 IEEE-RAS 18th International Conference on
Humanoid Robots (Humanoids 2018)
Study of Toe Joints to Enhance Locomotion of Humanoid Robots
Most humanoid robots still walk with bent knees and flat feet which is considered highly unnatural, i.e. not biologically inspired, and also energy inefficient. The paradigm and benefits of walking with non-bent knees and with an active toe joint are explored in this study. Non-bent knee walking trajectories are created using an instantaneous capture point (ICP) planner within a momentum based quadratic program (QP) whole body control framework. The toe joint trajectories are obtained as an emergent behavior of the QP determined by under-constraining the objective function and modeling movement of the toe joint as a torsional spring. A comparison between similar systems with and without toe joints reveal a stronger thrust vector during toe-off, reduced knee joint angles and a more human like gait. Experiments in simulation are conducted on the Atlas humanoid robot.
Speaker: Junius Santoso
Advisor: Cagdas Onal
Sim-to-real Transferable Object Classification through Touch-based Continuum Manipulation
It is important to investigate object perception for classification or recognition based on touch sensing, especially when robots are operating in darkness or the objects are difficult to capture by vision sensors. In this work, we present a new form of continuum manipulator equipped with sparse touch sensing and validate the effectiveness of automatic generation of the touch-based continuum wraps. Using the indirect object shape information encoded in the robot shape, we demonstrate that a classifier trained from the simulated continuum wraps is transferable to identify the real world objects with real continuum wraps.
Friday, October 26, 2018
2:00 p.m. - 3:00 p.m.
60 Gateway Park, GP 1002