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Whole-body Compliant Dynamical Contacts for Humanoids: the CoDyCo project (FP7 EU project No. 600716 / 2013-2017) Vincent Padois, Matre de Confrences vincent.padois@upmc.fr Institut des Systmes Intelligents et de Robotique Sorbonne

  1. Whole-body Compliant Dynamical Contacts for Humanoids: the CoDyCo project (FP7 EU project No. 600716 / 2013-2017) Vincent Padois, Maître de Conférences vincent.padois@upmc.fr Institut des Systèmes Intelligents et de Robotique Sorbonne Universites - UPMC Univ Paris 06 - CNRS, UMR 7222 JNRH@IRCCyN - 08/06/2015 Vincent Padois (UPMC – ISIR) The CoDyCo project JNRH@IRCCyN - 08/06/2015 1 / 43

  2. The CoDyCo Project : Motivations Vincent Padois (UPMC – ISIR) The CoDyCo project JNRH@IRCCyN - 08/06/2015 2 / 43

  3. The CoDyCo Project : Motivations A long way to go ... Whole-body control with multiple contacts Unkwnon contact behaviour Under-actuated system with discrete contact changes Short-time decision making Vincent Padois (UPMC – ISIR) The CoDyCo project JNRH@IRCCyN - 08/06/2015 2 / 43

  4. The CoDyCo Project : Background work in whole-body control "Classically" solved problem : given some operational tasks to achieve and some physical constraints to meet, compute the actuation torque every 1ms L. Sentis, J. Park and O. Khatib : Compliant Control of Multicontact and Center-of-Mass Behaviors in Humanoid Robots, IEEE TRO 2010 ◮ Torque control ◮ Tasks hierarchy through null space projection ◮ Analytical resolution : constraints are treated as tasks ◮ Contacts location are unchanged ◮ Simulation Vincent Padois (UPMC – ISIR) The CoDyCo project JNRH@IRCCyN - 08/06/2015 3 / 43

  5. The CoDyCo Project : Background work in whole-body control L. Saab, O. Ramos, N. Mansard, P. Souères, J.Y. Fourquet : Dynamic Whole-Body Motion Generation Under Rigid Contacts and Other Unilateral Constraints, IEEE TRO 2013 → torque control, tasks hierarchy through hierachy of QPs, numerical resolution (QP) : constraints are treated as constraints, position replay on the real robot A. Del Prete, F. Nori, G. Metta, L. Natale : Prioritized motion–force control of constrained fully-actuated robots :“Task Space Inverse Dynamics”, RAS 2015 → torque control, tasks hierarchy through null space projection, analytical resolution : inequality constraint are not dealt with, simulation J. Salini, V. Padois, P. Bidaud : Synthesis of Complex Humanoid Whole-Body Behavior : a Focus on Sequencing and Tasks Transitions, ICRA 2011 → torque control, tasks hierarchy trough weightings, numerical resolution (QP) : constraints are treated as constraints, simulation Vincent Padois (UPMC – ISIR) The CoDyCo project JNRH@IRCCyN - 08/06/2015 4 / 43

  6. The CoDyCo Project : Background work in whole-body control Vincent Padois (UPMC – ISIR) The CoDyCo project JNRH@IRCCyN - 08/06/2015 5 / 43

  7. The CoDyCo Project : Objectives ‘ Whole-body dynamics computation with multiple external contacts Understanding human use of external contacts Whole body control and regulation of whole body compliance Machine learning for acquiring models of compliant contact with the environment "Real-world" validation with the iCub humanoid robot Vincent Padois (UPMC – ISIR) The CoDyCo project JNRH@IRCCyN - 08/06/2015 6 / 43

  8. The CoDyCo Project : Consortium and organization Francesco Nori, WP5 Jan Peters, WP4 Jan Babic, WP2 Mike Mistry, WP1 Serena Ivaldi, WP4 Vincent Padois, WP3 Vincent Padois (UPMC – ISIR) The CoDyCo project JNRH@IRCCyN - 08/06/2015 7 / 43

  9. Hardware and Software Vincent Padois (UPMC – ISIR) The CoDyCo project JNRH@IRCCyN - 08/06/2015 8 / 43

  10. The CoDyCo Project : Hardware and Software → cf. http://www.icub.org Vincent Padois (UPMC – ISIR) The CoDyCo project JNRH@IRCCyN - 08/06/2015 9 / 43

  11. The CoDyCo Project : Hardware and Software Vincent Padois (UPMC – ISIR) The CoDyCo project JNRH@IRCCyN - 08/06/2015 10 / 43

  12. The CoDyCo Project : Hardware and Software → Joint torque estimation based on dynamics model and measurement through RNE calculation : iDyn++ Vincent Padois (UPMC – ISIR) The CoDyCo project JNRH@IRCCyN - 08/06/2015 11 / 43

  13. The CoDyCo Project : Hardware and Software Vincent Padois (UPMC – ISIR) The CoDyCo project JNRH@IRCCyN - 08/06/2015 12 / 43

  14. The CoDyCo Project : Hardware and Software All software developed for the CoDyCo project, including modules for the control of balancing and reaching with multiple contacts, are available as open-source : https://github.com/robotology/codyco-superbuild Additional documentation is available via the icub wiki : http://wiki.icub.org/codyco/dox/html/index.html The codyco-superbuild meta repository aggregates the following projects : idyntree : YARP-based Floating Base Robot Dynamics Library wholebodyinterface : C++ Interfaces to sensor measurements, state estimations, kinematic/dynamic model and actuators for a floating base robot yarp-wholebodyinterface : Implementation of the wholeBodyInterface for YARP robots WBI-Toolbox : Simulink Toolbox for rapid prototyping of Whole Body Robot Controllers codyco-modules : YARP modules and controllers developed within the CoDyCo project ... Tools for simulating humanoid robot dynamics : a survey based on user feedback S. Ivaldi, J. Peters, V. Padois and F. Nori Humanoids, 2014 Vincent Padois (UPMC – ISIR) The CoDyCo project JNRH@IRCCyN - 08/06/2015 13 / 43

  15. Human studies Vincent Padois (UPMC – ISIR) The CoDyCo project JNRH@IRCCyN - 08/06/2015 14 / 43

  16. The CoDyCo Project : Human studies Goal : Understanding and modelling human whole-body behaviours in physical interaction Review of human postural control and whole body motion in contact with environment (cf. Deliverable 2.1) Design of reduced models for human whole body motion in contact [ Babic et al., Gaitt and Posture 2014 ] Strategies of dealing with uncertainties in contact Human contact choice and learning through physical interaction Vincent Padois (UPMC – ISIR) The CoDyCo project JNRH@IRCCyN - 08/06/2015 15 / 43

  17. The CoDyCo Project : Human studies Vincent Padois (UPMC – ISIR) The CoDyCo project JNRH@IRCCyN - 08/06/2015 16 / 43

  18. The CoDyCo Project : Human studies Vincent Padois (UPMC – ISIR) The CoDyCo project JNRH@IRCCyN - 08/06/2015 17 / 43

  19. The CoDyCo Project : Human studies Vincent Padois (UPMC – ISIR) The CoDyCo project JNRH@IRCCyN - 08/06/2015 18 / 43

  20. The CoDyCo Project : Human studies Vincent Padois (UPMC – ISIR) The CoDyCo project JNRH@IRCCyN - 08/06/2015 19 / 43

  21. The CoDyCo Project : Human studies Vincent Padois (UPMC – ISIR) The CoDyCo project JNRH@IRCCyN - 08/06/2015 20 / 43

  22. The CoDyCo Project : Human studies Vincent Padois (UPMC – ISIR) The CoDyCo project JNRH@IRCCyN - 08/06/2015 21 / 43

  23. The CoDyCo Project : Human studies Vincent Padois (UPMC – ISIR) The CoDyCo project JNRH@IRCCyN - 08/06/2015 22 / 43

  24. Whole-Body control Vincent Padois (UPMC – ISIR) The CoDyCo project JNRH@IRCCyN - 08/06/2015 23 / 43

  25. The CoDyCo Project : Whole-body control Goal : Control and optimization of whole-body motion in contact Formulate and solve the WB control problem Bootstrap with MPC and Learning techniques Rigid and compliant cases [ Liu et al., submitted IROS 2015 ] Vincent Padois (UPMC – ISIR) The CoDyCo project JNRH@IRCCyN - 08/06/2015 24 / 43

  26. The CoDyCo Project : Whole-body control Generalized hierarchical controller [ Liu et al., Autonomous Robots 2015 ] Features Optimization problem formulation Single LQ Program to solve Strict and soft priorities Smooth task evolution and transitions General approach (kinematics, statics, dynamics) ... ... for many types of robotic systems Vincent Padois (UPMC – ISIR) The CoDyCo project JNRH@IRCCyN - 08/06/2015 25 / 43

  27. The CoDyCo Project : Whole-body control Vincent Padois (UPMC – ISIR) The CoDyCo project JNRH@IRCCyN - 08/06/2015 26 / 43

  28. The CoDyCo Project : Whole-body control Vincent Padois (UPMC – ISIR) The CoDyCo project JNRH@IRCCyN - 08/06/2015 27 / 43

  29. The CoDyCo Project : Whole-body control Vincent Padois (UPMC – ISIR) The CoDyCo project JNRH@IRCCyN - 08/06/2015 28 / 43

  30. The CoDyCo Project : Whole-body control Vincent Padois (UPMC – ISIR) The CoDyCo project JNRH@IRCCyN - 08/06/2015 29 / 43

  31. The CoDyCo Project : Whole-body control Vincent Padois (UPMC – ISIR) The CoDyCo project JNRH@IRCCyN - 08/06/2015 30 / 43

  32. The CoDyCo Project : Whole-body control Vincent Padois (UPMC – ISIR) The CoDyCo project JNRH@IRCCyN - 08/06/2015 31 / 43

  33. The CoDyCo Project : Whole-body control Vincent Padois (UPMC – ISIR) The CoDyCo project JNRH@IRCCyN - 08/06/2015 32 / 43

  34. The CoDyCo Project : Whole-body control Vincent Padois (UPMC – ISIR) The CoDyCo project JNRH@IRCCyN - 08/06/2015 33 / 43

  35. The CoDyCo Project : Whole-body control Vincent Padois (UPMC – ISIR) The CoDyCo project JNRH@IRCCyN - 08/06/2015 34 / 43

  36. The CoDyCo Project : Whole-body control Vincent Padois (UPMC – ISIR) The CoDyCo project JNRH@IRCCyN - 08/06/2015 35 / 43

  37. The CoDyCo Project : Whole-body control MPC for postural balancing under varying contact conditions [ Ibanez et al. IROS 2014 ] Vincent Padois (UPMC – ISIR) The CoDyCo project JNRH@IRCCyN - 08/06/2015 36 / 43

  38. The CoDyCo Project : Whole-body control MPC for postural balancing under varying contact conditions → From ZMP to 3-D conditions of stable balance criteria within MPC ... see Darwin Lau’s presentation tomorrow Vincent Padois (UPMC – ISIR) The CoDyCo project JNRH@IRCCyN - 08/06/2015 37 / 43

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