Cooperative Haptics for Humanoid Robot Teleoperation Master Thesis Presentation Jo˜ ao O. Barros joaoobarros@ua.pt University of Aveiro – Department of Mechanical Engineering Scientific supervision : Prof. Dr. V´ ıtor Manuel Ferreira dos Santos Prof. Dr. Filipe Miguel Teixeira Pereira da Silva December 11, 2014
Introduction V-REP Model Construction Experimental Setup Control Strategies Experiments and Results Conclusions Outline Introduction V-REP Model Construction Experimental Setup Control Strategies Experiments and Results Conclusions Jo˜ ao O. Barros December 2014 Cooperative Haptics for Humanoid Robot Teleoperation 2 / 28
Introduction V-REP Model Construction Experimental Setup Control Strategies Experiments and Results Conclusions What is haptics ? Haptic interaction with the world refers to sensing and manipulation using our sense of touch . Computer haptics technology interfaces the user with a virtual environment via the sense of touch by applying forces, vibrations, and/or motions to the user. Jo˜ ao O. Barros December 2014 Cooperative Haptics for Humanoid Robot Teleoperation 3 / 28
Introduction V-REP Model Construction Experimental Setup Control Strategies Experiments and Results Conclusions PHUA project The main goal is the development and integration of hardware and software components in a functional low-budget platform, to perform studies in balance and locomotion tasks. ◮ An approach for kinesthetic teaching is proposed, in which the user interactively demonstrates a specific motion task, while feeling the dynamics of the system through a haptic interface – tele-kinesthetic teaching . Jo˜ ao O. Barros December 2014 Cooperative Haptics for Humanoid Robot Teleoperation 4 / 28
Introduction V-REP Model Construction Experimental Setup Control Strategies Experiments and Results Conclusions PHUA project The main goal is the development and integration of hardware and software components in a functional low-budget platform, to perform studies in balance and locomotion tasks. ◮ An approach for kinesthetic teaching is proposed, in which the user interactively demonstrates a specific motion task, while feeling the dynamics of the system through a haptic interface – tele-kinesthetic teaching . Jo˜ ao O. Barros December 2014 Cooperative Haptics for Humanoid Robot Teleoperation 4 / 28
Introduction V-REP Model Construction Experimental Setup Control Strategies Experiments and Results Conclusions PHUA project Robot’s current form ❼ Anthropometrically built ❼ 27 degrees-of-freedom ❼ Hybrid actuation system ❼ Force sensors ❼ Artificial vision system ❼ Inertial sensors Jo˜ ao O. Barros December 2014 Cooperative Haptics for Humanoid Robot Teleoperation 5 / 28
Introduction V-REP Model Construction Experimental Setup Control Strategies Experiments and Results Conclusions PHUA project PHANToM OMNI haptic device ◮ The haptic device used was the PHANToM OMNI, a ground- based haptic joystick. Jo˜ ao O. Barros December 2014 Cooperative Haptics for Humanoid Robot Teleoperation 6 / 28
Introduction V-REP Model Construction Experimental Setup Control Strategies Experiments and Results Conclusions Objectives ❼ Adaption/creation of a humanoid model in V-REP, and defin- ition of its kinematic chains according to PHUA robotic plat- form; ❼ Definition of the force feedback developed towards the user; ❼ Setting up the communication between the two haptic devices; ❼ Basic teleoperation of the PHUA model in V-REP, with one joystick; ❼ Teleoperation of the V-REP model in more complex tasks, with two joysticks; ❼ Test and recording of motion parameters during the simulation of different locomotion patterns; ❼ Experiments in the real robot. Jo˜ ao O. Barros December 2014 Cooperative Haptics for Humanoid Robot Teleoperation 7 / 28
Introduction V-REP Model Construction Experimental Setup Control Strategies Experiments and Results Conclusions V-REP model construction - stages 1 CAD model import 2 Pure shapes extraction 3 Inertial parameters definition 4 Shape linkage ( joints and force sensors ); 5 Kinematic chains definition Jo˜ ao O. Barros December 2014 Cooperative Haptics for Humanoid Robot Teleoperation 8 / 28
Introduction V-REP Model Construction Experimental Setup Control Strategies Experiments and Results Conclusions V-REP model construction - stages 1 CAD model import 2 Pure shapes extraction 3 Inertial parameters definition 4 Shape linkage ( joints and force sensors ); 5 Kinematic chains definition Jo˜ ao O. Barros December 2014 Cooperative Haptics for Humanoid Robot Teleoperation 8 / 28
Introduction V-REP Model Construction Experimental Setup Control Strategies Experiments and Results Conclusions V-REP model construction - stages 1 CAD model import 2 Pure shapes extraction 3 Inertial parameters definition 4 Shape linkage ( joints and force sensors ); 5 Kinematic chains definition Jo˜ ao O. Barros December 2014 Cooperative Haptics for Humanoid Robot Teleoperation 8 / 28
Introduction V-REP Model Construction Experimental Setup Control Strategies Experiments and Results Conclusions V-REP model construction - stages 1 CAD model import 2 Pure shapes extraction 3 Inertial parameters definition 4 Shape linkage ( joints and force sensors ); 5 Kinematic chains definition Jo˜ ao O. Barros December 2014 Cooperative Haptics for Humanoid Robot Teleoperation 8 / 28
Introduction V-REP Model Construction Experimental Setup Control Strategies Experiments and Results Conclusions V-REP model construction - stages 1 CAD model import 2 Pure shapes extraction 3 Inertial parameters definition 4 Shape linkage ( joints and force sensors ); 5 Kinematic chains definition Jo˜ ao O. Barros December 2014 Cooperative Haptics for Humanoid Robot Teleoperation 8 / 28
Introduction V-REP Model Construction Experimental Setup Control Strategies Experiments and Results Conclusions CAD model import ◮ CAD model parts were rearranged and redefined to match the real robot’s body links and DOFs. Lower limbs parts Upper body parts Jo˜ ao O. Barros December 2014 Cooperative Haptics for Humanoid Robot Teleoperation 9 / 28
Introduction V-REP Model Construction Experimental Setup Control Strategies Experiments and Results Conclusions Pure shapes extraction ◮ Pure shapes are used for dynamic simulations. Imported shape Triangle edit mode Grouped pure shapes Jo˜ ao O. Barros December 2014 Cooperative Haptics for Humanoid Robot Teleoperation 10 / 28
Introduction V-REP Model Construction Experimental Setup Control Strategies Experiments and Results Conclusions Approximated model for dynamic simulation External appearance Optimized model Jo˜ ao O. Barros December 2014 Cooperative Haptics for Humanoid Robot Teleoperation 11 / 28
Introduction V-REP Model Construction Experimental Setup Control Strategies Experiments and Results Conclusions Joints and force sensors Model kinematic chains Force sensors implementation Jo˜ ao O. Barros December 2014 Cooperative Haptics for Humanoid Robot Teleoperation 12 / 28
Introduction V-REP Model Construction Experimental Setup Control Strategies Experiments and Results Conclusions Kinematic chains definition ◮ All the elements of the mechanism are linked together to build the legs and arms kinematic chains. Jo˜ ao O. Barros December 2014 Cooperative Haptics for Humanoid Robot Teleoperation 13 / 28
Introduction V-REP Model Construction Experimental Setup Control Strategies Experiments and Results Conclusions Hardware and software solutions ◮ ROS distributed system. Jo˜ ao O. Barros December 2014 Cooperative Haptics for Humanoid Robot Teleoperation 14 / 28
Introduction V-REP Model Construction Experimental Setup Control Strategies Experiments and Results Conclusions ROS modules’ interaction ◮ V-REP operates in association with the other ROS modules. V-REP feet positions, joint state/ sensor values, pelvis position sensor positions, dummy positions phantom_control record_data robot_state CoP position, feedback force vector support polygon haptic_feedback Jo˜ ao O. Barros December 2014 Cooperative Haptics for Humanoid Robot Teleoperation 15 / 28
Introduction V-REP Model Construction Experimental Setup Control Strategies Experiments and Results Conclusions ROS modules’ interaction ◮ V-REP operates in association with the other ROS modules. V-REP feet positions, joint state/ sensor values, pelvis position sensor positions, dummy positions phantom_control record_data robot_state CoP position, feedback force vector support polygon haptic_feedback Jo˜ ao O. Barros December 2014 Cooperative Haptics for Humanoid Robot Teleoperation 15 / 28
Introduction V-REP Model Construction Experimental Setup Control Strategies Experiments and Results Conclusions ROS modules’ interaction ◮ V-REP operates in association with the other ROS modules. V-REP feet positions, joint state/ sensor values, pelvis position sensor positions, dummy positions phantom_control record_data robot_state CoP position, feedback force vector support polygon haptic_feedback Jo˜ ao O. Barros December 2014 Cooperative Haptics for Humanoid Robot Teleoperation 15 / 28
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