iCub Whole-Body Control Through Force Regulation on Rigid - PowerPoint PPT Presentation

iCub Whole-Body Control Through Force Regulation on Rigid Non-Coplanar Contacts Francesco Nori IIT Robotics, Brain and Cognitive Sciences

iCub Whole-Body Control iCub Whole-Body Control Through Force Regulation on Through Force Regulation on Rigid Non-Coplanar Contacts Rigid Non-Coplanar Contacts Francesco Nori Francesco Nori IIT IIT Robotics, Brain and Robotics, Brain and Cognitive Sciences Cognitive Sciences

3 /34 WHY iCub Whole-Body Control Through Force Regulation on Rigid Non-Coplanar Contacts Francesco Nori IIT Robotics, Brain and Cognitive Sciences

4 /34 WHY iCub Whole-Body Control Through Force Regulation on Rigid Non-Coplanar Contacts Francesco Nori IIT Robotics, Brain and Cognitive Sciences

iCub Whole-Body Control Through Force Regulation on Rigid Non-Coplanar Contacts Francesco Nori IIT Robotics, Brain and Cognitive Sciences

iCub Whole-Body Control Through Force Regulation on Rigid Non-Coplanar Contacts Francesco Nori IIT Robotics, Brain and Cognitive Sciences

iCub Whole-Body Control Through Force Regulation on Rigid Non-Coplanar Contacts Francesco Nori IIT Robotics, Brain and Cognitive Sciences

8 /34 WHAT iCub Whole-Body Control Through Force Regulation on Rigid Non-Coplanar Contacts Francesco Nori IIT Robotics, Brain and Cognitive Sciences

iCub Whole-Body Control Through Force Regulation on Rigid Non-Coplanar Contacts Francesco Nori IIT Robotics, Brain and Cognitive Sciences

10 /34 WHAT iCub Whole-Body Control Through Force Regulation on Rigid Non-Coplanar Contacts Francesco Nori IIT Robotics, Brain and Cognitive Sciences

11 /34 HOW iCub Whole-Body Control Through Force Regulation on  � � 0 Rigid Non-Coplanar Contacts + J > (q)f Self M(q)˙ v q + C(q , v q )v q + g(q) = τ q Francesco Nori  � � 0 IIT + J > ( q )f Other M ( q )˙ v q + C ( q , v q ) v q + g ( q ) = + Robotics, Brain and Cognitive Sciences τ q ⇤  � v q ˙ + ˙ J(q , v q ) + ˙ ⇥ Contact J(q) J ( q ) J ( q , v q ) = 0 ˙ v q

12 /34 HOW iCub Whole-Body Control Through Force Regulation on Rigid Non-Coplanar Contacts Francesco Nori IIT Robotics, Brain and Cognitive Sciences

13 /34 HOW Technology iCub Whole-Body Control Through Force Regulation on Rigid Non-Coplanar Contacts G. Metta, L. Natale, G.Sandini, F . Nori Software Francesco Nori IIT Robotics, Brain and Cognitive Sciences RBCS: S. Traversaro, J. Eljaik, Science ICUB: A. Cardellino, D. Domenichelli, G. Metta, L. Natale ADVR: A. Rocchi, M. Ferrati, E. Mingo Hoffman, A. Settimi, N. Tsagarakis, A. Bicchi S. Traversaro, F . Romano, D. Pucci, L.Fiorio, A. Del Prete, J. Eljaik, F . Nori

14 /34 HOW Technology iCub Whole-Body Control Through Force Regulation on Rigid Non-Coplanar Contacts G. Metta, L. Natale, G.Sandini, F . Nori Software Francesco Nori IIT Robotics, Brain and Cognitive Sciences RBCS: S. Traversaro, J. Eljaik, Science ICUB: A. Cardellino, D. Domenichelli, G. Metta, L. Natale ADVR: A. Rocchi, M. Ferrati, E. Mingo Hoffman, A. Settimi, N. Tsagarakis, A. Bicchi S. Traversaro, F . Romano, D. Pucci, L.Fiorio, A. Del Prete, J. Eljaik, F . Nori

15 /34 Technology iCub Whole-Body Control Through Force Regulation on Rigid Non-Coplanar Contacts Francesco Nori IIT Robotics, Brain and Cognitive Sciences

16 /34 HOW iCub Whole-Body Control Through Force Regulation on Rigid Non-Coplanar Contacts Compliance Kinematics Dynamics Francesco Nori IIT Robotics, Brain and Cognitive Sciences Joint torques estimation from NE whole-body internal and IPOPT library for inverse embedded proximal force/ external force estimation kinematics with nonlinear torque sensing. fusing force and tactile constraints (reach, gaze, foot sensing. placement, c.o.m. control). U. Pattacini, F. Nori, L. Natale, G. Metta, G. Sandini (2010). M. Fumagalli, S. Ivaldi, M. Randazzo, L. Natale, G. Metta, G. J. Eljaik, Z. Li, M. Randazzo, A. Parmiggiani, G. Metta, N. International Conference Intelligent Robots and Systems (IROS). Sandini, and F. Nori (2012). Autonomous Robots (AURO). Tsagarakis, F. Nori (2014). Robotics: Science and Systems (RSS).

Joint Torques and External Wrenches Estimation iCub Whole-Body Control - Goal: measure robot interaction with the world Through Force Regulation on - Effect of motors : joint torques Rigid Non-Coplanar Contacts - Interaction with environment: external wrenches Measured wrench - We have a specific set of sensors on the iCub - skin, six axis Force Torque sensors, IMU Estimated Francesco Nori Estimated joint - We exploited the classical RNEA, applied to the robot external wrench IIT torque subtrees induced by the F/T sensors Robotics, Brain and Cognitive Sciences Whole-body Tactile Six-axes force/torque sensors sensors Fumagalli, Nori et Al. (2012). Force feedback exploiting tactile and proximal force/torque sensing. Autonomous Robots.

passive noise rejecting VSA - we want to improve actuators disturbance rejection Humanoid whole-body motion control with distributed contacts - movements in presence of unpredictability - active feedback might not be a viable strategy - we implemented part of the control loop mechanically - passive mechanical feedback Francesco Nori - we proposed a novel actuator design - agonist-antagonist design based on non-linear springs Robotics, Brain and Cognitive Sciences - the actuator joint has a unique equilibrium position - antagonistic activation of motors: co-contraction - co-contraction increases passive noise rejection L. Fiorio, F. Romano, A. Parmiggiani, G. Sandini, F. Nori (2014). Robotics, Science and Systems (RSS).

passive noise rejecting VSA - we constructed a first prototype Humanoid whole-body motion control with distributed contacts - non-linear spring based on two specialized cam designs - complex components have been 3D printed - we derived two control action Francesco Nori - open-loop position and stiffness control - open-loop stochastic optimal control Robotics, Brain and Cognitive Sciences F. Romano, L. Fiorio, G. Sandini, F. Nori (2014). IEEE Multi-conference on Systems and Control (MSC).

iCub Whole-Body Control Through Force Regulation on Rigid Non-Coplanar Contacts Francesco Nori IIT Robotics, Brain and Cognitive Sciences

21 /34 HOW Technology iCub Whole-Body Control Through Force Regulation on Rigid Non-Coplanar Contacts G. Metta, L. Natale, G.Sandini, F . Nori Software Francesco Nori IIT Robotics, Brain and Cognitive Sciences RBCS: S. Traversaro, J. Eljaik, Science ICUB: A. Cardellino, D. Domenichelli, G. Metta, L. Natale ADVR: A. Rocchi, M. Ferrati, E. Mingo Hoffman, A. Settimi, N. Tsagarakis, A. Bicchi S. Traversaro, F . Romano, D. Pucci, L.Fiorio, A. Del Prete, J. Eljaik, F . Nori

22 /34 Open source (control) software iCub Whole-Body Control Through Force Regulation on Rigid Non-Coplanar Contacts Francesco Nori IIT Robotics, Brain and Cognitive Sciences

23 /34 Control Software iCub Whole-Body Control Through Force Regulation on Rigid Non-Coplanar Contacts Gazebo iDynTree wholeBodyInterface Francesco Nori IIT Robotics, Brain and Cognitive Sciences A YARP-based open source A generic library for dynamics A software abstraction layer simulator for the iCub, computation, used to model for whole-body motion control COMAN and Walkman robot. articulated rigid bodies. and dynamic modelling. Mingo H.E., Traversaro S., Alessio R., Mirko F., Settimi A., Romano J. Eljaik, A. del Prete, S. Traversaro, M. Randazzo, F. Nori (2014). S. Traversaro, A. Del Prete, S. Ivaldi, F. Nori (2015). IEEE F., Natale L., Bicchi A., Nori F., Tsagarakis G. (2014). Modelling and Workshop at the International Conference in Robotics and International Conference in Robotics and Automation (ICRA). Simulation for Autonomous Systems . Automation (ICRA).

24 /34 HOW Technology iCub Whole-Body Control Through Force Regulation on Rigid Non-Coplanar Contacts G. Metta, L. Natale, G.Sandini, F . Nori Software Francesco Nori IIT Robotics, Brain and Cognitive Sciences RBCS: S. Traversaro, J. Eljaik, Science ICUB: A. Cardellino, D. Domenichelli, G. Metta, L. Natale ADVR: A. Rocchi, M. Ferrati, E. Mingo Hoffman, A. Settimi, N. Tsagarakis, A. Bicchi S. Traversaro, F . Romano, D. Pucci, L.Fiorio, A. Del Prete, J. Eljaik, F . Nori

25 /34 Basic science iCub Whole-Body Control Through Force Regulation on Rigid Non-Coplanar Contacts Francesco Nori IIT Robotics, Brain and Cognitive Sciences

26 /34 Control Software iCub Whole-Body Control Through Force Regulation on Rigid Non-Coplanar Contacts Muscle modelling Adaptive control Hierarchic optimal control Francesco Nori IIT Robotics, Brain and Cognitive Sciences Novel formalism to plan M o d e l s o f m u s c l e c o - A prototype for compliant Adaptive control of under- optimal movements with activation and its use in actuator with muscle like a c t u a t e d m e c h a n i c a l hierarchic costs. compensating disturbances. properties. systems. F. Nori, B. Berret, L. Fiorio, A. Parmiggiani, G. Sandini (2013). EP 13785613.4 . L. Fiorio, F. Romano, A. Parmiggiani, G. Sandini, F. Nori (2014). B. Berret, E. Chiovetto, F. Nori, T. Pozzo (2011). PLoS Comput D.Pucci, F. Romano, F. Nori (2015). Submitted to Transaction on F. Romano, A. Del Prete, N. Mansard, F. Nori (2015). Robotics and Robotics (TRO). Robotics: science and systems (RSS). Biology . Automation (ICRA).