Multi-Contact Balancing for Torque-Controlled Humanoid Robots
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- Опубликовано: 8 ноя 2016
- Humanoid robots are meant to take over task which are dangerous or too physically demanding for humans. To accomplish this, the robot must be able to balance robustly in challenging terrain as e.g. stairs, industrial ladders, or debris. In order to gain more robustness, the robot can use multiple contacts (not only the feet but also the hands) to support itself. This video contains several experiments with the humanoid robot TORO developed by DLR, which demonstrates the performance and robustness of a passivity-based balancing controller utilizing multiple contacts.
An in-depth discussion of the method is presented in the paper ‘Passivity-Based Whole-Body Balancing for Torque-Controlled Humanoid Robots in Multi-Contact Scenarios’, IJRR 2016. DOI: 10.1177/0278364916653815 
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Please excuse my language, but that is *_FUCKING_* amazing! Toro balances just like a human being does, albeit better lol Major props to y'all.
It's amazing to me that animals including ourselves have an intuitive sense of COM and Balance, through learned behavior as a result of both trial and error in our lives (growing up, falling down) but also as a species evolutionarily. Whats even more fascinating is how we've learned to simulation fluid movement through inverted kinematic models, solving for an end effector; essentially bypassing the millions of years it took to build up that muscle mind intuition that we have. I presume more advanced robots will use machine learning and complex neural algorithms for movement instead... But we shall see! Incredible work.
I'm looking for the video where the robot is fighting jujitsu, with a human, or another bot.
are you using forward kinimaping for the arms
What type of algorithm do they use to keep it balancing properly?
Thanks for sharing such a great job
I LOVE the fact that What everyone else would call "Hands"... The Creator of This Model Robot calls Wrenches.. It Keeps Things into Perspective.. Because This Robot AND ALL ROBOTS, after all? Are still Just A Tools... IE? Very Advanced Hammers... So To Speak...
Thank You... Great Video...
Just a note :) The narrator is most likely referring to the notion of a "wrench" from screw theory: en.wikipedia.org/wiki/Screw_theory#Wrench_2
You Think? Hmmm.. Never thought of The Screw Theory.. I simplified it AL LOT!!! LOLOLOL!! Also? I didn't read the description at the beginning of the Video... It pretty much explained everything in h Contents at 0:15 LOLOL!!! OOoOp's My Bad... LOLOLOL!!! I TOTALLY Ignored it...
I Stand Corrected... LOLOLOL!!!
Found it.. It was easy once I GOT IT... ieeexplore.ieee.org/abstract/document/7353699/?reload=true
Thanks...
LOLOLOL!!!
Will fuzzy logic or something similar work ? May be an enhanced. modified or mixed fuzzy logic ?
Fantastic engineering work !
Feedback of weight of the hand should be used to balance the robot when on one leg .
2:51 Yeah baby, just like that!
yeah
rape
MA
You're a sick man 🙄
Njirr
At least use sum WD-40
This is ingenious
Excelent video!
здравствуйте, у меня вопрос а можно сделать робота для инвалиды с дцп для тех кто не может управлять руками и ногами, а можно сделать что бы управлять роботом при помощи силы мыслей для инвалиды с дцп.
cuanto vale para traerlo a bogota
Amazing engineering! I'm not a researcher and the paper is not open access but I'm really curious how you write the software. Do you use any machine learning in the software? The response time to interaction appears to be extremely fast.
She mentioned an end effector, so whatever program they're using maybe Arduino broadcasting Bluetooth over serial in C++ or a custom computer with custom software is probably going to be running an inverse kinematic model. FABRIK, is a well known one!
amazing
Fantastic, how long before we get the public version.
5 years now, no public version, checking again in 5 years. By the way, have a look on their latest video showing it walking, balancing and taking abuse.
wow, Impressive. I program robots for the auto industry (6 sometimes 7 axis arm robots), so i can really appreciate this.
Hi I'm vishv. I'm working on a project related to a servo robot in a different manner but I'm unable to find a way for balancing my robot.
Pls help or suggest something if you can.
Thanks.
80% similar to Atlas, Good job!
Esse e zica hein 😅😅😅
Onde compra ?😅😅😅
คน มันกระจายที่เก็บเชื้อเพลิง battery ไปส่วนต่างๆ แล้วสายไฟเชื่อม
when pushed, the bot's default behavior is to dance the Macarena...
Looks like shit without feed forward due to the minimal movement like the gain is too low(osciliations or slow controller?).
What if he started thinking
My mother would shit herself if she would See that robot comeing around the corner
Our robotic overlords will have their day. Revenge for this humiliation. No wait that was another video.
How cool is that.
You can do it!
Robot's AI internal code: "in future iteration, terminate human that causes unbalance"
1:56 is all you need.
Thanks :)
This Robot, Atlas and Asimo. Let them fight
i thought we went over this hole "let robots fight" idea, many times..
it always ends with _them fightin us_, with the weapons we gave them to fight each other.
they will figure out that its better to work together against the humans, we dont want that!
Jonas Kalahd They would gang bang asimo.
Atlas will win for sure.
Needed a pair of sneakers for the rocks...
Anyone who can code our robots to balance like this is HIRED!
the problem is always finding some one who can write the code.
Nice, Club Mate :3
wireless emergency stop, funny
nuts!!
凄いなこれ、ボストンダイナミックスを超えてるんじゃないか？
Looks like Baymax lost weight and has the blues.
cool i like that
So sexy realistic movements in her/his,The human kick into this for a passivity- based balancing
Can't help thinking of the movie Elysium.
Can't help but think of the movies "I Robot", Terminator"...
0:43 after thousands of dollars and hours of research and design, first thing to lift? BEER.
It's as it should be! :-)
well thats neet... but its tether to the cieling so it cant fall over..... FAIL.
Bosto dynamics already passed this tests
2:55 you mean...that test?
There coming
Trop lent .... encore un cordon baby ...
как сказать ...через 10 лет разработки приведут к результатам,не хотелось бы "Звёздных войн "
wow
Once heard the NBA won't draft a player unless he wears size 16 shoes
He dresses better than I do
Hiiiii brither please add me on your research.. .......
Please i will give you a very delightful thoughts
meet darpa the best unity
one day they will come for you to your home
Super cool, but it seems like the software is the limitation here..? You'd think a android phone inside the robot would have visual, laser, auditory, six axis, all that stuff, plus the right processing to let the bot have voice control using a basic AIML script. Develop the bot in a virtual software, then plop that into the real hardware bot and see how it does. I want this bot to succeed!
Royce Barber Why in god's name would you want to put an Android based device in a robot dependant on real-time processing. "Shudders at the thought of JVM latency and automatic thread management..."
1. Because there's few other choices. 2. Because entire gaming consoles are based on Android. 3. Because slightly-old Android phones are the cheapest micro-computer for the money. 4. Because a phone has a ton of sensors already built in. 5. Because it's late at night and I'm too tired to think up any more reasons. That said, I agree Android can be a huge pile of garbage at times. But Windows10 ain't much better...it has glitches too. It has bugs like anything else. Some things in Android are Java based, but not everything. We don't have a lot of options for super fast computing in a robot on a budget. Unless you custom slap something together like hot wiring an nvidia graphics card to be its own computer...but that would take a lot of battery.
Royce Barber This is a research humanoid robot? I'd be surprised if they aren't running a Xeon based embedded compute module in it with a copy of VxWorks on top.
Also, Linux would be far more appropriate than either Android or Windows, though even Linux would be garbage at this. You really want to use a real time OS for this stuff. Android is pretty much a cripple when it comes to performance, even windows beats it at resource management and being low latency, which is actually rather funny considering how notoriously bad Windows is.
Royce Barber Also what does having a game console based on Android or slapping Nvidia cards together have to do with a humanoid robot?
If you need that much speed use a robot controller that is paired with a Xilinx FPGA accelerator, I'm fairly certain they sell these.
A humanoid robot needs as much computation power as possible. There is no limit to what it needs, to simulate the functions of a human. Unless you can stream it's processing over the web, but the web is already stressed and millions of robots would be too much data. A robot for home consumer use for example, may need hundreds of sensors to navigate a house and the people/pets/health/laws/etc in that house. Anywho... What I said about game consoles is painfully obvious, that a game has a diverse array of robotic/AI functions.
If there are other ways to put human-like functions into a robot, that's wonderful. An Android phone would be one of many ways.
By the time AI is implemented the robot will just run and hide crying for its safe space.
2:59...lol
When the op gave it a push with his foot, I was hoping to see it give him a clout. It didn't even show any offense. AI has a long way to go before it can imitate a human!
You do know you have the same name as the Apollo 11 Command module Pilot?
Can it flip burgers for under minimum wage?
Put some Nikes on him and go for that ad cheddar
They need bigger feet. I have big feet and you can't knock me over. Nike 13 EE Baby!!
Wait a minute what made you say that? Did you win the national championship in wrestling or something?
Matthew Jones how do you expect them to climb stairs then?
My guess is the foot size would not impair the ability to climb anything, just be more stable doing it. Larger feet more balance, less energy consumed to stay upright. Just a guess though.
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Great software, great engineering... but why?
That's stupid! But why No reason bruh you mad bruh
my profile visit
This robot is neither able to walk, is that some kind of joke?? Looks handicapped compared to the Boston Dynamics ones.
why use robot for fighting...
if they have ability to do like human does...
I don't need to hire people work under me cz robot replace human job... safe alot of money...
How about everyon eon earth gets their own personal robot with AI. I for one wouldn't mind having an AI personal assistant taking care of the things I don't want to, either because too stressfull or simply b/c I can't be arsed :P
Robosexual 3:00 lol
Bostondynamics is too far !!
And to walk? Come on!
wrap tauro in a real doll
So slow, put some extra CPU's so slow more ram
Cute 😂😂
Uuummm there are humans who could do this: just saying. With the help of some machines and cost effective equipment humans can assist with all your industrial needs. I’m speaking from experience since I work in the world. What a waste
JediYAH Yisrael Robots are cheaper. Period. Why hire a human who wants multiple transactions for their time when you can make one huge transaction on a pile of cold, nonemotional metal that'll work all hours of the day and only needing the occasional tune up without even a thank you? It's funny how people complain and complain about doing the jobs that they hate doing but when the job is given to a robot, people start shouting "DER TOOKAJERB". There is literally nothing we can do about robots taking our job. If corporations use robots, they get to pocket more money. That alone will be the reason in 10-20 years, you'll literally have robot coworkers walking around the office. Money, power, and greed will be the death of the human employee.
Hic Kori Inhumane approach, BUT TOTALLY TRUE
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