Abstract
This paper is about a layered controller for a complex humanoid robot: namely, the iCub. We exploited a combination of precomputed models and machine learning owing to the principle of balancing the design effort with the complexity of data collection for learning. A first layer uses the iCub sensors to implement impedance control, on top of which we plan trajectories to reach for visually identified targets while avoiding the most obvious joint limits or self collision of the robot arm and body. Modeling errors or misestimation of parameters are compensated by machine learning in order to obtain accurate pointing and reaching movements. Motion segmentation is the main visual cue employed by the robot.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsReferences
G. Metta, L. Natale, F. Nori et al., The iCub humanoid robot: an open-systems platform for research in cognitive development. Neural Networks, special issue on Social Cognition: From Babies to Robots. 23, 1125–1134 (2010)
L. Villani, J. De Shutteer, Force control—Chapter 7, eds. by B. Siciliano, O. Khatib. Springer Handbook of Robotics (Springer, 2008)
L. Sciavicco, B. Siciliano, Modelling and Control of Robot Manipulators. Advance textbooks in Control and Signal Processing, 2nd edn. (Springer, 2005)
G. Metta The iCub website (2010). http://www.iCub.org
G. Metta, D. Vernon, G. Sandini, The RobotCub approach to the development of cognition: implications of emergent systems for a common research agenda in epigenetic robotics. in 5th Epigenetic Robotics Workshop, Nara, Japan, July 2005
A.R. Tilley, The Measure of Man and Woman: Human Factors in Design (Wiley Interscience, 2002)
N.G. Tsagarakis, G. Metta, G. Sandini et al., iCub: the design and realization of an open humanoid platform for cognitive and neuroscience research. Adv. Robot. 21(10), 1151–1175 (2007)
P. Fitzpatrick, G. Metta, L. Natale, Towards long-lived robot genes. Robot. Auton. Syst. 56(1), 29–45 (2008)
R. Featherstone, D.E. Orin, Dynamics—Chapter 2, in B. Siciliano, O. Khatib, Springer Handbook of Robotics (Springer, 2008)
A. Gijsberts, G. Metta, Incremental learning of robot dynamics using random features. in IEEE International Conference on Robotics and Automation. Shanghai, China, 9–13 May 2011
D. Nguyen-Tuong, J. Peters, M. Seeger, Computed torque control with nonparametric regression models. in American Control Conference (ACC 2008), pp. 212–217, June 2008
A. Rahimi, B. Recht, Random features for large-scale kernel machines. Adv. Neural Inform. Process. Syst. 20, 1177–1184 (2008)
A. Wätcher, L.T. Biegler, On the implementation of a primal-dual interior point filter line search algorithm for large-scale nonlinear programming. Math. Programm. 106(1), 25–57 (2006)
M. Hersch, A.G. Billard, Reaching with multi-referential dynamical systems. Auton. Robots 25(1–2), 71–83 (2008)
W. Abend, E. Bizzi, P. Morasso, Human arm trajectory formation. Brain 105, 331–348 (1982)
U. Pattacini, F. Nori, L. Natale, G. Metta, G. Sandini, An experimental evaluation of a novel minimum-Jerk Cartesian controller for humanoid robots. in IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1668–1674, Taipei, Taiwan, 18–22 Oct 2010
A.S. Deo, I.D. Walker, Robot subtask performance with singularity robustness using optimal damped least-squares. in IEEE International Conference on Robotics and Automation (1992)
H.Y. Lee, B.J. Yi, Y. Choi (2007) A realistic joint limit algorithm for kinematically redundant manipulators. in IEEE International Conference on Control, Automation and Systems
The Orocos website. http://www.orocos.org/kdl
B.D. Lucas, T. Kanade, An iterative image registration technique with an application to stereo vision. in Proceedings of IJCAI, pp. 674–679 (1981)
Acknowledgments
The research described in this paper is the result of work from several EU projects: CHRIS grant agreement number FP7-ICT-215805, Poeticon grant agreement number PF7-ICT-215843, Xperience grant agreement number PF7-ICT-270273 and EFAA grant agreement number FP7-ICT-270490. Many students and postdocs were involved in this research and are gratefully acknowledged: in particular Ugo Pattacini, Carlo Ciliberto, Vadim Tikhanoff, Matteo Fumagalli, Serena Ivaldi, Arjan Gijsberts, and Marco Randazzo.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer International Publishing Switzerland
About this chapter
Cite this chapter
Metta, G., Natale, L., Nori, F., Sandini, G. (2017). Force Control and Reaching Movements on the iCub Humanoid Robot. In: Christensen, H., Khatib, O. (eds) Robotics Research . Springer Tracts in Advanced Robotics, vol 100. Springer, Cham. https://doi.org/10.1007/978-3-319-29363-9_10
Download citation
DOI: https://doi.org/10.1007/978-3-319-29363-9_10
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-29362-2
Online ISBN: 978-3-319-29363-9
eBook Packages: EngineeringEngineering (R0)