Title
Dual-arm robotic manupulation inspired by human skills
Creator
Tomić, Marija, 1987-
Copyright date
2018
Object Links
Select license
Autorstvo-Nekomercijalno-Bez prerade 3.0 Srbija (CC BY-NC-ND 3.0)
License description
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Language
English
Cobiss-ID
Theses Type
Doktorska disertacija
description
Datum odbrane: 4. 7. 2018.
Other responsibilities
mentor
Chevallereau, Christine.
mentor
Jovanović, Kosta.
član komisije
Đurović, Željko, 1964-
član komisije
Rodić, Aleksandar, 1960-
član komisije
Yannik, Aoustin.
član komisije
Fraisse, Philippe.
Academic Expertise
Tehničko-tehnološke nauke
University
Univerzitet u Beogradu
Faculty
Elektrotehnički fakultet
Alternative title
Dvoručna manipulacija inspirisana ljudskim veštinama
Publisher
[M. Tomić]
Format
listova
description
Electrical and Computer Engineering-Robotics and Control Systems
Abstract (en)
Man’s desire to shape the world to fit his ideas (or vision) has led to major
technological achievements. Many machines have been inspired by biological systems
and processes observed in nature. The greatest challenge for the research engineer is to
develop a human-like mechanical system that has the skills of a human being. The shape
of the human body has largely inspired the mechanical structure of humanoid robots.
Current efforts of researchers in humanoid robotics and cognitive sciences are aimed at
translating models of human behavior to humanoid robots. Modeling of human movement
has been extensively studied and explored in the literature, to design and control a
humanoid robot inspired by human movement in daily human activities. Various scientific
disciplines analyze human movement in different ways. There are many techniques
and strategies for imitating and analyzing human motions, such as the motion imitation
process, imitation learning, and optimization approaches.
The objectives of this thesis are to:
– improve the conversion process for the imitation of human upper-body movement
by a humanoid, for a task with and/or without contact between hands and equipment;
– define an objective function optimized by human movement, in order to transfer
human skills to humanoid robots; and
– execute humanoid robot motion similar to human motion, by minimizing the same
criteria.
Since the human model is complex and has many degrees of freedom, the goal is to
imitate human motion and transfer human skills to a humanoid robot with fewer degrees of
freedom. To this end, a kinematic model of the robot ROMEO was used as the kinematic
model of a human body. The motions of a human being that uses both arms to perform
a task, including contact with the environment, are analyzed in the thesis. This type of
motion has not been sufficiently explored in the literature.
A conversion process for the imitation of human motion by a humanoid robot is proposed
in the first part of the thesis. This conversion process enhances existing techniques
and was developed to imitate human motion and have a humanoid robot perform a task
with and/or without contact between hands and equipment...
Abstract (sr)
Cˇ ovekova želja da stvori svet po svojoj zamisli (ili viziji) dovela je do razvoja
velikih tehniˇckih dostignu´ca. Inspiracije za stvaranje brojnih mašina istraživaˇci su pronašli
posmatranjem bioloških sistema i procesa u prirodi. Najve´ci izazov za istraživaˇca je
razvoj mehaniˇckog sistema nalik ˇcoveku koji ima karakteristike ljudskog bi´ca. Mehaniˇcka
struktura ljudskog tela u velikoj meri je mapirana u model humanoidnih robota. Sadašnji
napori istraživaˇca u oblasti humanoidne robotike i kognitivnih nauke su da transformišu
modele ljudskog ponašanja i procesa u model humanoidnih robota. Modeliranje ljudskog
pokreta široko je prouˇcavano i istraživano u literaturi sa ciljem da se dizajnira
humanoidni robot i definiše njegovo upravljanje inspirisano karakteristikama ljudskog
pokreta u svakodnevnim ljudskim aktivnostima. Razne discipline nauke analiziraju ljudsko
kretanje na razliˇcite naˇcine. Postoje brojne tehnike i strategije koje imitiraju i analiziraju
ljudsko kretanje, kao što su imitacioni proces, uˇcenje iz imitacije i optimizacioni
pristupi.
Cilj ove teze je:
– da unapredi konverzione procese za imitaciju pokreta gornjeg dela tela ˇcoveka sa
humanoidnim robotom za zadatke sa ili bez kontakata izmed¯u ruku i opreme;
– da definiše objektivnu funkciju koja predstavlja optimizirano ljudsko kretanje sa
ciljem prenošenja ljudskih veština na humanoidne robote; i
– da humanoidni robot izvršava pokret na isti naˇcin kao ˇcovek minimiziranjen istih
kriterijuma
S obzirom da je model ˇcoveka kompleksan i obuhvata mnogo stepeni slobode, naš cilj je
da se ljudski pokret i veštine kretanja prenesu na kretanje humanoidnog robota sa manje
stepeni slobode. U tu svrhu, kinematski model robota ROMEO je koriš´cen za predstavljanje
kinematskog model ljudskog tela. Pokreti dvoruˇcne manipulacije koji ukljuˇcuju
kontakt sa okruženjem su predmet istraživanja u tezi. Ova vrsta kretanja nije dovoljno
istražena u literaturi.
U prvom delu teze predložen je konverzioni proces za imitaciju ljudskog kretanja sa
humanoidnim robotom. Ovaj konverzioni proces poboljšava postoje´ce tehnike i razvijen
je za imitaciju ljudskog kretanja sa humanoidnim robotom za izvod¯enje zadataka sa
ili/i bez kontakta izmed¯u ruku i opreme...
Abstract (fr)
Le désir de l’homme de créer un monde à son idée (ou image) a conduit
au développement de grandes réalisations techniques. De nombreuses machines sont
inspirées des systèmes et des processus biologiques observés dans la nature. Le plus
grand défi pour le chercheur est de mettre au point un système mécanique, ressemblant
à l’homme, et qui présente les aptitudes d’un être humain. La forme du corps humain a
largement inspirée la structure mécanique des robots humanoïdes. Les efforts actuels des
chercheurs dans le domaine de la robotique humanoïde et des sciences cognitives visent à
transposer les modèles du comportement humain vers les robots humanoïdes. La modélisation
du mouvement humain a été largement étudiée et explorée dans la littérature dans
le but de concevoir et de contrôler un robot humanoïde inspiré par le mouvement humain
dans les activités humaines quotidiennes. Les différentes disciplines scientifiques analysent
le mouvement humain de différentes manières. Il existe de nombreuses techniques et
stratégies pour imiter et analyser le mouvement humain, comme le processus d’imitation
du mouvement, l’apprentissage par imitation et les approches d’optimisation.
Le but de cette thèse est :
– d’améliorer le processus de conversion pour l’imitation du mouvement humain du
haut du corps par un humanoïde, pour une tâche avec ou/et sans contact entre les
mains et l’équipement.
– de définir la fonction objective optimisée par un mouvement humain dans le but de
transférer les habiletés humaines aux robots humanoïdes.
– de faire exécuter au robot humanoïde des mouvements similaires au mouvement
humain, c’est à dire minimisant les mêmes critères.
Comme le modèle humain est complexe et comporte de nombreux degrés de liberté,
l’objectif est de faire imiter un mouvement et de transférer les habiletés humaines à un
robot humanoïde avec moins de degrés de liberté. A cette fin, le modèle cinématique du
robot ROMEO est utilisé comme modèle cinématique du l’humain. Des mouvements d’un
humain utilisant ses deux bras pour une tache incluant le contact avec l’environnement
sont analysées ici. Ce type de mouvement a été peu étudié dans la littérature.
Dans la première partie de la thèse, un processus de conversion pour l’imitation du
mouvement humain par un robot humanoïde est proposé...
Authors Key words
human motion skills, inverse optimal control algorithm, inverse kinematics
algorithm, human motion imitation, humanoid robots
Authors Key words
veštine ljudskog kretanja, inverzni optimalni algoritam upravljanja, algorivi
tam inverzne kinematike, imitacija ljudskih pokreta, humanoidni roboti
Classification
681.514:007.52:004.855.5.021(043.3)
Type
Tekst
Abstract (en)
Man’s desire to shape the world to fit his ideas (or vision) has led to major
technological achievements. Many machines have been inspired by biological systems
and processes observed in nature. The greatest challenge for the research engineer is to
develop a human-like mechanical system that has the skills of a human being. The shape
of the human body has largely inspired the mechanical structure of humanoid robots.
Current efforts of researchers in humanoid robotics and cognitive sciences are aimed at
translating models of human behavior to humanoid robots. Modeling of human movement
has been extensively studied and explored in the literature, to design and control a
humanoid robot inspired by human movement in daily human activities. Various scientific
disciplines analyze human movement in different ways. There are many techniques
and strategies for imitating and analyzing human motions, such as the motion imitation
process, imitation learning, and optimization approaches.
The objectives of this thesis are to:
– improve the conversion process for the imitation of human upper-body movement
by a humanoid, for a task with and/or without contact between hands and equipment;
– define an objective function optimized by human movement, in order to transfer
human skills to humanoid robots; and
– execute humanoid robot motion similar to human motion, by minimizing the same
criteria.
Since the human model is complex and has many degrees of freedom, the goal is to
imitate human motion and transfer human skills to a humanoid robot with fewer degrees of
freedom. To this end, a kinematic model of the robot ROMEO was used as the kinematic
model of a human body. The motions of a human being that uses both arms to perform
a task, including contact with the environment, are analyzed in the thesis. This type of
motion has not been sufficiently explored in the literature.
A conversion process for the imitation of human motion by a humanoid robot is proposed
in the first part of the thesis. This conversion process enhances existing techniques
and was developed to imitate human motion and have a humanoid robot perform a task
with and/or without contact between hands and equipment...
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