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<?xml version="1.0" encoding="utf-8" standalone="yes" ?>
<rss version="2.0" xmlns:atom="http://www.w3.org/2005/Atom">
<channel>
<title>Dongdong Liu</title>
<link>https://ddliu365.github.io/</link>
<atom:link href="https://ddliu365.github.io/index.xml" rel="self" type="application/rss+xml" />
<description>Dongdong Liu</description>
<generator>Wowchemy (https://wowchemy.com)</generator><language>en-us</language><lastBuildDate>Sun, 31 Oct 2021 00:00:00 +0000</lastBuildDate>
<image>
<url>https://ddliu365.github.io/images/icon_hu5d0816a8c21410d3f8285dd78450ac45_5023_512x512_fill_lanczos_center_2.png</url>
<title>Dongdong Liu</title>
<link>https://ddliu365.github.io/</link>
</image>
<item>
<title>Humanoid Double-Support Throw</title>
<link>https://ddliu365.github.io/project/double_throw/</link>
<pubDate>Sun, 31 Oct 2021 00:00:00 +0000</pubDate>
<guid>https://ddliu365.github.io/project/double_throw/</guid>
<description><h1 id="heading"></h1>
<p><a href="http://mechatronics.engineering.nyu.edu/people/phd-candidates/dongdong-liu.php" target="_blank" rel="noopener"><strong>Dongdong Liu</strong></a>, <a href=""><strong>Yuhang Lin</strong></a>, <a href=""><strong>Alexander Koldy</strong></a>, <a href="http://mechatronics.engineering.nyu.edu/people/vikram-kapila" target="_blank" rel="noopener"><strong>Vikram Kapila</strong></a></p>
<div align="center">
<img src="docs/assets/img/cover.png"/>
</div>
<p>|<a href="#abstract">Abstract</a>|<a href="#code">Code</a>|<a href="#paper">Paper</a>|<a href="#concept">Concept</a>|<a href="#results">Results</a>|<a href="#experiment">Experiment</a>|<a href="#acknowledgment">Acknowledgment</a>|</p>
<h2 id="abstract">Abstract</h2>
<p>In recent years, there has been a growing interest in the use of optimal control techniques for diverse application
scenarios being envisioned for humanoid robots. Throwing is a common human activity used in a variety of situations,
including sports, hunting, rescue, etc. Optimization approaches have previously been considered to maximize the simulated
throw performance for humans. Experimental approaches for improving human throw performance have been restricted
to observation and mimicry of high performing athletes. In the case of robotics, prior research on throw performance
improvement using optimization has been limited to simulations studies, with scant research considering experimental validation.
To address this research gap, in this effort, we consider the optimal design, experimental implementation, and analysis
of a whole-body throwing motion in a double support humanoid robot with the use of a differential dynamic programming
(DDP) approach. We provide results from repeated experiments to demonstrate that the proposed DDP method significantly
improves the throwing performance for a 23 degrees-of-freedom humanoid robot in contrast to a previously proposed key-frame
(KF) method. With the framework of this paper, a humanoid robot can perform highly dynamic whole-body throwing tasks, achieving
optimal throwing distance while maintaining balance stability.</p>
<h2 id="paper">Paper</h2>
<h2 id="concept">Concept</h2>
<p><strong>The concept of a humanoid throwing motion: (a) initial pose, (b) preparation pose, (c) throw pose, and (d) recovery pose. A ball is released from the robot&rsquo;s right gripper at the end of the throw phase.</strong></p>
<div align="center">
<img src="docs/assets/img/robot throw.PNG"/>
</div>
<h2 id="results">Results</h2>
<p><strong>Simulated joint positions for differential-dynamic programming (DDP) approach.<br/>
Lower extremity:</strong></p>
<div align="center">
<img src="docs/assets/img/Lower.png"/>
</div>
<p><strong>Upper extremity:</strong></p>
<div align="center">
<img src="docs/assets/img/Lower.png"/>
</div>
<p><strong>Framework:</strong></p>
<div align="center">
<img src="docs/assets/img/framework.png"/>
</div>
<p><strong>Throw distance comparision for both differential-dynamic programming (DDP) and keyframe (KF) approach</strong></p>
<div align="center">
<img src="docs/assets/img/projectile.png"/>
</div>
<h2 id="experiment">Experiment</h2>
<p><strong>(a) A humanoid with encoder-equipped motors mounted on each joint and an inertial measurement unit (IMU) mounted on its pelvis, and
(b) the throwing testbed</strong></p>
<div align="center">
<img src="docs/assets/img/experiment.png"/>
</div>
<p><strong>Timeline snapshots: Throwing experiment with the DDP approach</strong></p>
<div align="center">
<img src="docs/assets/img/timelineDDP.png"/>
</div>
<p><strong>Timeline snapshots: Throwing experiment with the KF approach</strong></p>
<div align="center">
<img src="docs/assets/img/timelineKF.png"/>
</div>
<h2 id="acknowledgment">Acknowledgment</h2>
<p>Work supported in part by the National Science Foundation under an ITEST grant DRL-1614085, RET Site grant EEC-1542286, and DRK12 grant DRL-1417769. D. Liu thanks his lab colleagues, particularly P. Chauhan, for helping edit early drafts of the manuscript.</p>
</description>
</item>
<item>
<title>A Rollover Strategy for Wrist Damage Reduction in a Forward Falling Humanoid</title>
<link>https://ddliu365.github.io/publication/rollover/</link>
<pubDate>Sun, 08 Aug 2021 00:00:00 +0000</pubDate>
<guid>https://ddliu365.github.io/publication/rollover/</guid>
<description></description>
</item>
<item>
<title>Humanoid Rollover</title>
<link>https://ddliu365.github.io/project/rollover/</link>
<pubDate>Sun, 08 Aug 2021 00:00:00 +0000</pubDate>
<guid>https://ddliu365.github.io/project/rollover/</guid>
<description></description>
</item>
<item>
<title>Bidirectional LSTM-based Network for Fall Prediction in a Humanoid</title>
<link>https://ddliu365.github.io/publication/forecast/</link>
<pubDate>Wed, 04 Nov 2020 00:00:00 +0000</pubDate>
<guid>https://ddliu365.github.io/publication/forecast/</guid>
<description></description>
</item>
<item>
<title>DDP-based Parachute Landing Optimization for a Humanoid</title>
<link>https://ddliu365.github.io/publication/landing/</link>
<pubDate>Wed, 04 Nov 2020 00:00:00 +0000</pubDate>
<guid>https://ddliu365.github.io/publication/landing/</guid>
<description></description>
</item>
<item>
<title>Humanoid Forecast</title>
<link>https://ddliu365.github.io/project/forecast/</link>
<pubDate>Wed, 04 Nov 2020 00:00:00 +0000</pubDate>
<guid>https://ddliu365.github.io/project/forecast/</guid>
<description></description>
</item>
<item>
<title>Humanoid Landing</title>
<link>https://ddliu365.github.io/project/landing/</link>
<pubDate>Wed, 04 Nov 2020 00:00:00 +0000</pubDate>
<guid>https://ddliu365.github.io/project/landing/</guid>
<description><p><img src="https://ddliu365.github.io/media/landing.gif" alt="demo"></p>
</description>
</item>
<item>
<title>Deep mobile printing</title>
<link>https://ddliu365.github.io/project/snac/</link>
<pubDate>Tue, 01 Sep 2020 00:00:00 +0000</pubDate>
<guid>https://ddliu365.github.io/project/snac/</guid>
<description></description>
</item>
<item>
<title>Landing Page</title>
<link>https://ddliu365.github.io/projectpage/</link>
<pubDate>Tue, 01 Jan 2019 00:00:00 +0000</pubDate>
<guid>https://ddliu365.github.io/projectpage/</guid>
<description></description>
</item>
<item>
<title>Sphere Joint Mechanism</title>
<link>https://ddliu365.github.io/project/sphere_joint/</link>
<pubDate>Wed, 27 Apr 2016 00:00:00 +0000</pubDate>
<guid>https://ddliu365.github.io/project/sphere_joint/</guid>
<description><p>Upcoming&hellip;</p>
</description>
</item>
<item>
<title>Reconfigurable Parallel Robot</title>
<link>https://ddliu365.github.io/project/6urs/</link>
<pubDate>Mon, 01 Jul 2013 00:00:00 +0000</pubDate>
<guid>https://ddliu365.github.io/project/6urs/</guid>
<description></description>
</item>
<item>
<title>Fruit Picking Robot</title>
<link>https://ddliu365.github.io/project/fruit_robot/</link>
<pubDate>Mon, 31 Dec 2012 00:00:00 +0000</pubDate>
<guid>https://ddliu365.github.io/project/fruit_robot/</guid>
<description></description>
</item>
<item>
<title></title>
<link>https://ddliu365.github.io/teaching/</link>
<pubDate>Mon, 01 Jan 0001 00:00:00 +0000</pubDate>
<guid>https://ddliu365.github.io/teaching/</guid>
<description><ul>
<li>
<h3 id="nyu-tandon-robotics-summer-program">NYU Tandon Robotics Summer Program</h3>
<p>Instructor, K12 course, New York University, 2019</p>
</li>
<li>
<h3 id="nyu-tandon-robotics-summer-program-1">NYU Tandon Robotics Summer Program</h3>
<p>Instructor, K12 course, New York University, 2018</p>
</li>
</ul>
<h1 id="mentorship">Mentorship</h1>
<ul>
<li>Alexander Koldy</li>
<li>Aoxue Wei</li>
<li>Hoon Jeong</li>
<li>Julian Tang</li>
<li>Kunal Sheth</li>
<li>Michael Loughnane</li>
<li>Samuel Rossberg</li>
<li>Yang Liu</li>
<li>Yifan Xing</li>
<li>Yuhang Lin</li>
</ul>
</description>
</item>
<item>
<title>Hydraulic Pressure Control</title>
<link>https://ddliu365.github.io/project/hydraulic_control/</link>
<pubDate>Mon, 01 Jan 0001 00:00:00 +0000</pubDate>
<guid>https://ddliu365.github.io/project/hydraulic_control/</guid>
<description></description>
</item>
</channel>
</rss>