@inbook {3381, title = {WALK-MAN Humanoid Platform}, booktitle = {The DARPA Robotics Challenge Finals: Humanoid Robots To The Rescue}, volume = {121}, number = {The DARPA Robotics Challenge Finals: Humanoid Robots To The Rescue}, year = {2018}, pages = {495{\textendash}548}, publisher = {Springer}, organization = {Springer}, doi = {10.1007/978-3-319-74666-1_13}, author = {N. G. Tsagarakis and F. Negrello and M. Garabini and W. Choi and L. Baccelliere and V. G. Loc and J. Noorden and M. G. Catalano and M. Ferrati and L. Muratore and P. Kryczka and E. Mingo Hoffman and A Settimi and A. Rocchi and A. Margan and S. Cordasco and D. Kanoulas and A. Cardellino and L. Natale and H. Dallali and J. Malzahn and N. Kashiri and V. Varricchio and L. Pallottino and C. Pavan and J. Lee and A. Ajoudani and D. G. Caldwell and A. Bicchi} } @article {3137, title = {WALK-MAN: A High-Performance Humanoid Platform for Realistic Environments}, journal = {Journal of Field Robotics}, volume = {34}, year = {2017}, month = {06/2017}, pages = {1 - 34}, abstract = {

In this work, we present WALK-MAN, a humanoid platform that has been developed to operate in realistic unstructured environment, and demonstrate new skills including powerful manipulation, robust balanced locomotion, high-strength capabilities, and physical sturdiness. To enable these capabilities, WALK-MAN design and actuation are based on the most recent advancements of series elastic actuator drives with unique performance features that differentiate the robot from previous state-of-the-art compliant actuated robots. Physical interaction performance is benefited by both active and passive adaptation, thanks to WALK-MAN actuation that combines customized high-performance modules with tuned torque/velocity curves and transmission elasticity for high-speed adaptation response and motion reactions to disturbances. WALK-MAN design also includes innovative design optimization features that consider the selection of kinematic structure and the placement of the actuators with the body structure to maximize the robot performance. Physical robustness is ensured with the integration of elastic transmission, proprioceptive sensing, and control. The WALK-MAN hardware was designed and built in 11 months, and the prototype of the robot was ready four months before DARPA Robotics Challenge (DRC) Finals. The motion generation of WALK-MAN is based on the unified motion-generation framework of whole-body locomotion and manipulation (termed loco-manipulation). WALK-MAN is able to execute simple loco-manipulation behaviors synthesized by combining different primitives defining the behavior of the center of gravity, the motion of the hands, legs, and head, the body attitude and posture, and the constrained body parts such as joint limits and contacts. The motion-generation framework including the specific motion modules and software architecture is discussed in detail. A rich perception system allows the robot to perceive and generate 3D representations of the environment as well as detect contacts and sense physical interaction force and moments. The operator station that pilots use to control the robot provides a rich pilot interface with different control modes and a number of teleoperated or semiautonomous command features. The capability of the robot and the performance of the individual motion control and perception modules were validated during the DRC in which the robot was able to demonstrate exceptional physical resilience and execute some of the tasks during the competition.

}, keywords = {Robotics}, issn = {1556-4967}, doi = {10.1002/rob.21702}, url = {http://onlinelibrary.wiley.com/doi/10.1002/rob.21702/epdf}, author = {N. G. Tsagarakis and D. G. Caldwell and F. Negrello and W. Choi and L. Baccelliere and V. G. Loc and J. Noorden and L. Muratore and A. Margan and A. Cardellino and L. Natale and E. Mingo Hoffman and H. Dallali and N. Kashiri and J. Malzahn and J. Lee and P. Kryczka and D. Kanoulas and M. Garabini and M. G. Catalano and M. Ferrati and V. Varricchio and L. Pallottino and C. Pavan and A. Bicchi and A Settimi and A. Rocchi and A. Ajoudani} } @conference {2893, title = {Motion Primitive Based Random Planning for Loco{\textendash}Manipulation Tasks}, booktitle = {IEEE International Conference on Humanoid Robots (HUMANOIDS 2016)}, year = {2016}, note = {
This work is supported by the European commission project Walk-Man EU FP7-ICT no. 611832 and the ECs Horizon 2020 robotics program ICT-23-2014 under grant agreement 644727 (CogIMon)
}, publisher = {IEEE}, organization = {IEEE}, address = {Cancun, Mexico, 15-17 Nov. 2016 }, abstract = {

Several advanced control laws are available for
complex robotic systems such as humanoid robots and mobile
manipulators. Controls are usually developed for locomotion or
for manipulation purposes. Resulting motions are usually executed
sequentially and the potentiality of the robotic platform
is not fully exploited.
In this work we consider the problem of loco{\textendash}manipulation
planning for a robot with given parametrized control laws
known as primitives. Such primitives, may have not been
designed to be executed simultaneously and by composing
them instability may easily arise. With the proposed approach,
primitives combination that guarantee stability of the system
are obtained resulting in complex whole{\textendash}body behavior.
A formal definition of motion primitives is provided and a
random sampling approach on a manifold with limited dimension
is investigated. Probabilistic completeness and asymptotic
optimality are also proved. The proposed approach is tested
both on a mobile manipulator and on the humanoid robot
Walk-Man, performing loco{\textendash}manipulation tasks.

}, keywords = {Robotics}, isbn = {978-1-5090-4718-5 }, doi = {10.1109/HUMANOIDS.2016.7803402}, url = {http://ieeexplore.ieee.org/document/7803402/}, author = {A Settimi and D. Caporale and P. Kryczka and M. Ferrati and L. Pallottino} } @conference {2788, title = { WALK-MAN humanoid lower body design optimization for enhanced physical performance}, booktitle = {IEEE International Conference of Robotics and Automation (ICRA2016)}, year = {2016}, pages = {1817 - 1824}, publisher = {IEEE}, organization = {IEEE}, address = {Stockholm, Sweden, May 16-21, 2016 }, abstract = {
The deployment of robots to assist in environments hostile for humans during emergency scenarios require robots to demonstrate enhanced physical performance, that includes adequate power, adaptability and robustness to physical interactions and efficient operation. This work presents the design and development of the lower body of the new high performance humanoid WALK-MAN, a robot developed recently to assist in disaster response scenarios. The paper introduces the details of the WALK-MAN lower-body, highlighting the innovative design optimization features considered to maximize the leg performance. Starting from the general lower body specifications the objectives of the design and how they were addressed are introduced, including the selection of the leg kinematics, the arrangement of the actuators and their integration with the leg structure to maximize the range of motion, reduce the leg mass and inertia, and shape the leg mass distribution for better dynamic performance. Physical robustness is ensured with the integration of elastic transmission and impact energy absorbing covers. Experimental walking trials demonstrate the correct operation of the legs while executing a walking gait.
}, keywords = {Robotics}, doi = {10.1109/ICRA.2016.7487327}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7487327}, author = {F. Negrello and M. Garabini and M. G. Catalano and P. Kryczka and W. Choi and D. G. Caldwell and A. Bicchi and N. G. Tsagarakis} }