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Papers by Krzysztof Mianowski

Pomiary Automatyka Robotyka, 2016

Od pewnego czasu świat zachwyca się nowymi zabawkami mechatronicznymi, jak japońskie roboty HONDA... more Od pewnego czasu świat zachwyca się nowymi zabawkami mechatronicznymi, jak japońskie roboty HONDA i ASIMO jak też wieloma innymi podobnymi do nich, które zbudowano na kształt człowieka. W wielu ośrodkach badawczych na świecie prowadzi się intensywne badania nad robotami humanoidalnymi przeznaczonymi m.in. do asystowania człowiekowi w sytuacjach, w których zadaniem robota jest zastąpienie/ wyręczenie go w pracy fizycznej ale też pomoc w pracy intelektualnej. Rozwój układów mechanicznych, napędowych i sterujących, opracowanie nowych materiałów, oraz rozwój układów elektronicznych, sensorycznych i komputerów, w powiązaniu z nowymi technologiami informatycznymi, pozwoliły na realizację starego, skrywanego marzenia związanego z chęcią poprawy bytu człowieka, jakim może być robot-towarzysz pracy i zabawy. Niemęczący się fizycznie i cierpliwy we wspomaganiu człowieka w różnych, nawet bardzo nietypowych sytuacjach, robot może stać się niezastąpionym towarzyszem. Robot-asystent zwany też robotem osobistym, jak najbardziej podobny do człowieka, najlepiej humanoidalny, wiernie służący swemu panu powinien reagować na swoje otoczenie i polecenia właściciela w sposób intuicyjny, móc wyrażać emocje i z radością podejmować zadania pomocy i towarzyszenia w zabawie. Oczywiście wszelka działalność takiego robota będzie ograniczona Zezwala się na korzystanie z artykułu na warunkach licencji Creative Commons Uznanie autorstwa 3.0

For a long time people have been interested in the similarity between living organisms and the en... more For a long time people have been interested in the similarity between living organisms and the engineering devices built by them. Recent developments in the area of service robotics show an increasing interest in personal robots. Those personal robots can help to handle daily work and to entertain people. Future service robots will more and more be able to communicate with humans in a natural way. The communication between humans is not only based on speech in fact movements and emotions are very important. The expression of those emotions is a combination of neck, eyes and skin movements. Therefore this paper presents the construction of the humanoid robot head ROMAN with artificial eyes and neck. The head includes actuators, sensors and mechanical parts which are all integrated into the head. The currents design enable the robot to include a complex sensors system and a complete emotional system. ROBOT ROMAN DO BADANIA INTERAKCJI CZ OWIEK-ROBOT Streszczenie-Od bardzo dawna ludzie s zainteresowani w podobie stwie budowanych przez siebie urz dze technicznych i organizmów ywych. Aktualnie rozwój robotów us ugowych pokazuje znaczny wzrost zainteresowania robotami osobistymi. Roboty osobiste mog u atwi i umili codzienne ycie. W przysz o ci roboty us ugowe b d mog y porozumiewa si z lud mi w bardziej naturalny sposób. Komunikacja mi dzy lud mi opiera si nie tylko na komunikacji werbalnej (s ownej) lecz równie w znacznej mierze na mimice cia a (wymowie ruchów) i emocjach wyra anych przez mimik twarzy. Emocje te s kombinacj ruchów szyi, oczu, i mi ni/skóry twarzy. W niniejszym artykule zaprezentowano rozwi zania konstrukcyjne robota humanoidalnego ROMAN, w szczególno ci g owy ze sztucznymi oczami i szyi. G owa zawiera si owniki, czujniki i uk ady mechaniczne zintegrowane w z o on konstrukcj mechatroniczn na laduj c kszta ty i wybrane funkcje g owy cz owieka. Aktualny stan projektu pozwala na w czenie skomplikowanego uk adu sensorycznego i wykonawczego do wyra ania emocji w sposób bardzo podobny jak to robi ludzie.

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)

An increasing number of biologically-inspired control approaches for bipedal walking are demonstr... more An increasing number of biologically-inspired control approaches for bipedal walking are demonstrating impressive capabilities in simulations. Although many of them share the main assumptions about the simulated biped, so far no physical system has been presented that meets the requirements. Thus, in this paper we are presenting the Compliant Robotic Leg (Carl) — a fully actuated bio-inspired planar robotic leg that incorporates mono-as well as biarticular actuation. Its development is motivated by the vision to validate the Bioinspired Behavior Based Bipedal Locomotion Control (B4lc) on a physical platform. This paper provides an overview of the driving requirements for the different subsystems and the derived implementation. Two experiments were performed to proof the functionality of the system. Specifically, some key requirements — transparency, impact tolerance, force and impedance rendering — are demonstrated. To our knowledge, this is the first fully actuated robotic leg including biarticular elements that demonstrates distributed high-fidelity force and impedance control at the actuator level.

2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

The natural actuation redundancy of the human leg is partly due to the existence of biarticular m... more The natural actuation redundancy of the human leg is partly due to the existence of biarticular muscles. These muscles span two joints, bringing in substantial advantages for human locomotion. The physiological evidence suggests that the biarticular muscles can reduce the negative power production in the actuators and therefore contribute to the efficiency of the explosive movements. We perform the jump movement on the compliant robotic leg (CARL) to verify the role of biarticular elements in a physical platform. We further investigate how the actuator force distribution method can contribute to the economics of the explosive task. In our experiments, the biarticular actuators display similar behavior to their biological counterparts, with respect to energy transfer. A comparison study of two force distribution methods shows that the minimization of the instant power can improve the efficiency of the movements by up to 5 %. It is demonstrated that the deployment of the redundant biarticular actuators with instant power minimization criteria can increase the efficiency of the jump motion with up to 11 %, compared to the configuration with no actuation redundancy.

Bioinspiration & Biomimetics, 2019

In a lower extremity musculoskeletal leg, the actuation kinematics defines the interaction of the... more In a lower extremity musculoskeletal leg, the actuation kinematics defines the interaction of the actuators with each other and environment. Design of such a kinematic chain is challenging due to the existence of the redundant biarticular actuators which simultaneously act on two joints, generating a parallel mechanism. Actuator kinematics is mainly dependent on the moment arm profile of the actuation system. It is a common practice to select a constant moment arm value for robotic actuation system; nevertheless, biological muscles feature a distinctive nonlinear moment arm profile that has been ignored in the design of the musculoskeletal robots. In this paper, we propose a design paradigm for compliant robotic leg CARL based on the direct replication of the human leg anatomy. The resulting mechanical system should (a) demonstrate similar moment arm profile as in leg musculature, (b) exhibit expected physiological behavior of the muscles, (c) provide insight into the interaction of the actuators and possible improvement in the efficiency of the movements. We provide a comprehensive analysis of the moment arm profile of the leg musculature. The actuator kinematics of the designed leg is validated by comparing the contraction velocities of the muscles and actuators. The biological characteristics of the actuators are analyzed using the jump experiment data conducted on the previous version of the leg. The major physiological characteristics of the biarticular muscles, ligamentous action, and distal power transfer, is successfully demonstrated by the robotic leg. Our analysis demonstrates that the proposed structural design of the actuation system can improve the mechanical efficiency of this particular jump experiment up to 16% compared to the leg without actuator redundancy. Compared to the previous version of the leg, by only modifying the moment arm profiles, we can achieve an efficiency improvement of approximately 5%.

2013 18th International Conference on Methods & Models in Automation & Robotics (MMAR), 2013

ABSTRACT

CISM International Centre for Mechanical Sciences, 2000

Some new results concerned with the design of POLYCRANK manipulators without joint limits are pre... more Some new results concerned with the design of POLYCRANK manipulators without joint limits are presented. Main features of such a solution are links in the form of light hollow cranks connected one to the other by cross-roller bearings. The first pre-prototype of POLYCRANK with six DOF’s has been completed and tested. Three first DOF’s, with parallel vertical axes are driven by electric Direct Drive units mounted coaxial in the base of the manipulator. Three last DOF’s are driven by light motors with gears mounted on the last link of the horizontal chain with using parallelograms. High speed of cyclic gross motion in the convex workspace and good isotropic properties are the main advantages of this manipulator. Proper choosing of such mechanical properties like high natural frequency with good damping of vibrations, high stiffness, relatively low Lost Motion, is the basic requirement and it was the main purpose of investigations. Main disadvantages of the previous version are high cost of DD motors and of big diameter cross-roller bearings. A new one version with much more less cost is consider. One of the basic features of it’s is a new serial-parallel modular arrangement of the arm and untypical spherical wrist.

Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05., 2005

The prototype of parallel manipulator of Stewart platform type destined for the measuring applica... more The prototype of parallel manipulator of Stewart platform type destined for the measuring applications and some technological problems concerned with its design is presented in the paper. The design of mechanical part of the robot has been worked out in UNIGRAPHICS system while engineering simulations was made in ADAMStrade environment. Preliminary results of the design and initial investigations concerned with

Lecture Notes in Control and Information Sciences, 2007

Lecture Notes in Control and Information Sciences, 2007

Industrial Robot: An International Journal, 2003

The paper describes a prototype robot which due to its serial‐parallel structure exhibits, high s... more The paper describes a prototype robot which due to its serial‐parallel structure exhibits, high stiffness and has a large work envelope. These features make this robot suitable for relatively high precision machining operations on large workpieces. The conroller for this robot was based on MRROC++, which is a robot programming framework. Thus the controller could be tailored to the tasks at hand, including the capability of in‐program switching of kinematic model parameters. To obtain those parameters for different locations in the work‐space a calibration procedure using linear measurement guides has been devised.

WIADOMOŚCI ELEKTROTECHNICZNE

Materiały VII Krajowej Konferencji Robotyki: tom 1, 2001

Streszczenie: Praca dotyczy badania charakterystyk nowego rozwiązania chwytaka wielopalczastego w... more Streszczenie: Praca dotyczy badania charakterystyk nowego rozwiązania chwytaka wielopalczastego własnej konstrukcji z podatnymi palcami o specjalnej konstrukcji. Główne założenia projektu dotyczyły możliwości manipulacji np. delikatnymi obiektami o skomplikowanych kształtach, ale też innymi dowolnymi, będącymi "pod ręką". Niezależnie od tego założono, że chwytak ma zapewnić odpowiedni poziom pewności działania, funkcjonalności i łatwości obsługi. Konstrukcja chwytaka zapewnia korzystną zmienność charakterystyk sił wywieranych na obiekt zależnie od wartości wielkości rozwarcia palców chwytaka, tj. zależnie od wymiarów obiektu manipulowanego.

Pomiary Automatyka Robotyka, 2016

Od pewnego czasu świat zachwyca się nowymi zabawkami mechatronicznymi, jak japońskie roboty HONDA... more Od pewnego czasu świat zachwyca się nowymi zabawkami mechatronicznymi, jak japońskie roboty HONDA i ASIMO jak też wieloma innymi podobnymi do nich, które zbudowano na kształt człowieka. W wielu ośrodkach badawczych na świecie prowadzi się intensywne badania nad robotami humanoidalnymi przeznaczonymi m.in. do asystowania człowiekowi w sytuacjach, w których zadaniem robota jest zastąpienie/ wyręczenie go w pracy fizycznej ale też pomoc w pracy intelektualnej. Rozwój układów mechanicznych, napędowych i sterujących, opracowanie nowych materiałów, oraz rozwój układów elektronicznych, sensorycznych i komputerów, w powiązaniu z nowymi technologiami informatycznymi, pozwoliły na realizację starego, skrywanego marzenia związanego z chęcią poprawy bytu człowieka, jakim może być robot-towarzysz pracy i zabawy. Niemęczący się fizycznie i cierpliwy we wspomaganiu człowieka w różnych, nawet bardzo nietypowych sytuacjach, robot może stać się niezastąpionym towarzyszem. Robot-asystent zwany też robotem osobistym, jak najbardziej podobny do człowieka, najlepiej humanoidalny, wiernie służący swemu panu powinien reagować na swoje otoczenie i polecenia właściciela w sposób intuicyjny, móc wyrażać emocje i z radością podejmować zadania pomocy i towarzyszenia w zabawie. Oczywiście wszelka działalność takiego robota będzie ograniczona Zezwala się na korzystanie z artykułu na warunkach licencji Creative Commons Uznanie autorstwa 3.0

For a long time people have been interested in the similarity between living organisms and the en... more For a long time people have been interested in the similarity between living organisms and the engineering devices built by them. Recent developments in the area of service robotics show an increasing interest in personal robots. Those personal robots can help to handle daily work and to entertain people. Future service robots will more and more be able to communicate with humans in a natural way. The communication between humans is not only based on speech in fact movements and emotions are very important. The expression of those emotions is a combination of neck, eyes and skin movements. Therefore this paper presents the construction of the humanoid robot head ROMAN with artificial eyes and neck. The head includes actuators, sensors and mechanical parts which are all integrated into the head. The currents design enable the robot to include a complex sensors system and a complete emotional system. ROBOT ROMAN DO BADANIA INTERAKCJI CZ OWIEK-ROBOT Streszczenie-Od bardzo dawna ludzie s zainteresowani w podobie stwie budowanych przez siebie urz dze technicznych i organizmów ywych. Aktualnie rozwój robotów us ugowych pokazuje znaczny wzrost zainteresowania robotami osobistymi. Roboty osobiste mog u atwi i umili codzienne ycie. W przysz o ci roboty us ugowe b d mog y porozumiewa si z lud mi w bardziej naturalny sposób. Komunikacja mi dzy lud mi opiera si nie tylko na komunikacji werbalnej (s ownej) lecz równie w znacznej mierze na mimice cia a (wymowie ruchów) i emocjach wyra anych przez mimik twarzy. Emocje te s kombinacj ruchów szyi, oczu, i mi ni/skóry twarzy. W niniejszym artykule zaprezentowano rozwi zania konstrukcyjne robota humanoidalnego ROMAN, w szczególno ci g owy ze sztucznymi oczami i szyi. G owa zawiera si owniki, czujniki i uk ady mechaniczne zintegrowane w z o on konstrukcj mechatroniczn na laduj c kszta ty i wybrane funkcje g owy cz owieka. Aktualny stan projektu pozwala na w czenie skomplikowanego uk adu sensorycznego i wykonawczego do wyra ania emocji w sposób bardzo podobny jak to robi ludzie.

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)

An increasing number of biologically-inspired control approaches for bipedal walking are demonstr... more An increasing number of biologically-inspired control approaches for bipedal walking are demonstrating impressive capabilities in simulations. Although many of them share the main assumptions about the simulated biped, so far no physical system has been presented that meets the requirements. Thus, in this paper we are presenting the Compliant Robotic Leg (Carl) — a fully actuated bio-inspired planar robotic leg that incorporates mono-as well as biarticular actuation. Its development is motivated by the vision to validate the Bioinspired Behavior Based Bipedal Locomotion Control (B4lc) on a physical platform. This paper provides an overview of the driving requirements for the different subsystems and the derived implementation. Two experiments were performed to proof the functionality of the system. Specifically, some key requirements — transparency, impact tolerance, force and impedance rendering — are demonstrated. To our knowledge, this is the first fully actuated robotic leg including biarticular elements that demonstrates distributed high-fidelity force and impedance control at the actuator level.

2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

The natural actuation redundancy of the human leg is partly due to the existence of biarticular m... more The natural actuation redundancy of the human leg is partly due to the existence of biarticular muscles. These muscles span two joints, bringing in substantial advantages for human locomotion. The physiological evidence suggests that the biarticular muscles can reduce the negative power production in the actuators and therefore contribute to the efficiency of the explosive movements. We perform the jump movement on the compliant robotic leg (CARL) to verify the role of biarticular elements in a physical platform. We further investigate how the actuator force distribution method can contribute to the economics of the explosive task. In our experiments, the biarticular actuators display similar behavior to their biological counterparts, with respect to energy transfer. A comparison study of two force distribution methods shows that the minimization of the instant power can improve the efficiency of the movements by up to 5 %. It is demonstrated that the deployment of the redundant biarticular actuators with instant power minimization criteria can increase the efficiency of the jump motion with up to 11 %, compared to the configuration with no actuation redundancy.

Bioinspiration & Biomimetics, 2019

In a lower extremity musculoskeletal leg, the actuation kinematics defines the interaction of the... more In a lower extremity musculoskeletal leg, the actuation kinematics defines the interaction of the actuators with each other and environment. Design of such a kinematic chain is challenging due to the existence of the redundant biarticular actuators which simultaneously act on two joints, generating a parallel mechanism. Actuator kinematics is mainly dependent on the moment arm profile of the actuation system. It is a common practice to select a constant moment arm value for robotic actuation system; nevertheless, biological muscles feature a distinctive nonlinear moment arm profile that has been ignored in the design of the musculoskeletal robots. In this paper, we propose a design paradigm for compliant robotic leg CARL based on the direct replication of the human leg anatomy. The resulting mechanical system should (a) demonstrate similar moment arm profile as in leg musculature, (b) exhibit expected physiological behavior of the muscles, (c) provide insight into the interaction of the actuators and possible improvement in the efficiency of the movements. We provide a comprehensive analysis of the moment arm profile of the leg musculature. The actuator kinematics of the designed leg is validated by comparing the contraction velocities of the muscles and actuators. The biological characteristics of the actuators are analyzed using the jump experiment data conducted on the previous version of the leg. The major physiological characteristics of the biarticular muscles, ligamentous action, and distal power transfer, is successfully demonstrated by the robotic leg. Our analysis demonstrates that the proposed structural design of the actuation system can improve the mechanical efficiency of this particular jump experiment up to 16% compared to the leg without actuator redundancy. Compared to the previous version of the leg, by only modifying the moment arm profiles, we can achieve an efficiency improvement of approximately 5%.

2013 18th International Conference on Methods & Models in Automation & Robotics (MMAR), 2013

ABSTRACT

CISM International Centre for Mechanical Sciences, 2000

Some new results concerned with the design of POLYCRANK manipulators without joint limits are pre... more Some new results concerned with the design of POLYCRANK manipulators without joint limits are presented. Main features of such a solution are links in the form of light hollow cranks connected one to the other by cross-roller bearings. The first pre-prototype of POLYCRANK with six DOF’s has been completed and tested. Three first DOF’s, with parallel vertical axes are driven by electric Direct Drive units mounted coaxial in the base of the manipulator. Three last DOF’s are driven by light motors with gears mounted on the last link of the horizontal chain with using parallelograms. High speed of cyclic gross motion in the convex workspace and good isotropic properties are the main advantages of this manipulator. Proper choosing of such mechanical properties like high natural frequency with good damping of vibrations, high stiffness, relatively low Lost Motion, is the basic requirement and it was the main purpose of investigations. Main disadvantages of the previous version are high cost of DD motors and of big diameter cross-roller bearings. A new one version with much more less cost is consider. One of the basic features of it’s is a new serial-parallel modular arrangement of the arm and untypical spherical wrist.

Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05., 2005

The prototype of parallel manipulator of Stewart platform type destined for the measuring applica... more The prototype of parallel manipulator of Stewart platform type destined for the measuring applications and some technological problems concerned with its design is presented in the paper. The design of mechanical part of the robot has been worked out in UNIGRAPHICS system while engineering simulations was made in ADAMStrade environment. Preliminary results of the design and initial investigations concerned with

Lecture Notes in Control and Information Sciences, 2007

Lecture Notes in Control and Information Sciences, 2007

Industrial Robot: An International Journal, 2003

The paper describes a prototype robot which due to its serial‐parallel structure exhibits, high s... more The paper describes a prototype robot which due to its serial‐parallel structure exhibits, high stiffness and has a large work envelope. These features make this robot suitable for relatively high precision machining operations on large workpieces. The conroller for this robot was based on MRROC++, which is a robot programming framework. Thus the controller could be tailored to the tasks at hand, including the capability of in‐program switching of kinematic model parameters. To obtain those parameters for different locations in the work‐space a calibration procedure using linear measurement guides has been devised.

WIADOMOŚCI ELEKTROTECHNICZNE

Materiały VII Krajowej Konferencji Robotyki: tom 1, 2001

Streszczenie: Praca dotyczy badania charakterystyk nowego rozwiązania chwytaka wielopalczastego w... more Streszczenie: Praca dotyczy badania charakterystyk nowego rozwiązania chwytaka wielopalczastego własnej konstrukcji z podatnymi palcami o specjalnej konstrukcji. Główne założenia projektu dotyczyły możliwości manipulacji np. delikatnymi obiektami o skomplikowanych kształtach, ale też innymi dowolnymi, będącymi "pod ręką". Niezależnie od tego założono, że chwytak ma zapewnić odpowiedni poziom pewności działania, funkcjonalności i łatwości obsługi. Konstrukcja chwytaka zapewnia korzystną zmienność charakterystyk sił wywieranych na obiekt zależnie od wartości wielkości rozwarcia palców chwytaka, tj. zależnie od wymiarów obiektu manipulowanego.