Humanoid

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Scientific publications and documentation about humanoid robotics and the humanoid robot TUlip

Contents

Publications 2014

M.P.A. Spoelstra, Coaches: P.W.M. van Zutven, H. Nijmeijer, Foot placement for balance on humanoid robots (2014, Work in progress)

P.M.W. van Zutven, Control and identification of bipedal humanoid robots: stability analysis and experiments, 166, PhD thesis (2014)

R. Beerens, Coaches: P.W.M. van Zutven, H. Nijmeijer, Adaptive control on bipedal humanoid robots, 55, DCT 2014.013 (2014)

R.P.T. Soetens, Coaches: A. Saccon, M.J.G. van de Molengraft, State of the art in biped humanoid research, 74, DCT 2014.007 (2014)

Publications 2013

J.A.J. Baelemans, P.W.M. van Zutven, H. Nijmeijer, Model parameter estimation of humanoid robots using static contact force measurements, in IEEE International Symposium on Safety Security and Rescue Robotics, Linköping, Sweden, 6, (2013)

T.T.B Dorussen, Coaches: P.W.M. van Zutven, H. Nijmeijer, Model based dynamics compensation for humanoid robots, 33, DCT 2013.49 (2013)

A.T. van Rijn, Coaches: P.W.M. van Zutven, H. Nijmeijer, Model evaluation of the humanoid robot TUlip, 32, DCT 2013.45 (2013)

P.W.M. van Zutven, T.M. Assman, J. Caarls, C. Çilli, T.P.M. Boshoven, E. Ilhan, J.A.J. Baelemans, D.J.F. Heck, M.P.A. Spoelstra, H. Nijmeijer, Tech United Eindhoven RoboCup adult size humanoid team description 2013, in RoboCup 2013 Symposium papers and Team Description papers, Eindhoven, the Netherlands, 8, (2013)

J.A.J. Baelemans, Coaches: P.W.M. van Zutven, H. Nijmeijer, Parameter estimation of humanoid robots using the center of pressure, 106, DCT 2013.023 (2013)

P.W.M. van Zutven, H. Nijmeijer, Foot placement indicator for balance of planar bipeds with point feet, in International Journal of Advanced Robotic Systems: Biped Robots, Editor: Branislav Borovac, 1-11, (2013)

T.M. Assman, P.W.M. van Zutven, H. Nijmeijer, Qualitative validation of humanoid robot models through balance recovery side-stepping experiments, IEEE International Conference on Robotics and Automation (ICRA), Editor: Lynne Parker, Karlsruhe, Germany, 6, (2013)

P.W.M. van Zutven, H. Nijmeijer, Walking speed control through foot placement in planar bipeds, in 32nd Benelux meeting on systems and control, Editors: Laurent Catoire, Michel Kinnaert and Alain Vande Wouwer, Houffalize, Belgium, 42, (2013)

F.J.B.M. Botden, Coaches: P.W.M. van Zutven, H. Nijmeijer, Gait control by foot placement for humanoid robots, 31, DCT 2013.007, Internal Report (2013)

Publications 2012

W.T. van der Hoek, Coaches: P.W.M. van Zutven, P.C.J.N. Rosielle, H. Nijmeijer, Study and mechanical improvement of the TUlip hip joint, 67, DCT 2012.067, Internal Report (2012)

T.M. Assman, Coaches: P.W.M. van Zutven, H. Nijmeijer, Humanoid push recovery stepping in experiments and simulations, 114, DCT 2012.059, Internal Report (2012)

P.W.M. van Zutven, H. Nijmeijer, Balance of humanoid robots by proper foot placement, in Dynamic Walking Conference 2012, Editors: Jerry Pratt, Pensacola, USA, 4-7, (2012)

P.W.M. van Zutven, S.J. van Dalen, T.M. Assman, J. Caarls, C. Çilli, M.A.P. Aarts, T.P.M. Boshoven, P. Mironchyk, E. Ilhan, H. Nijmeijer, Tech United Eindhoven RoboCup adult size humanoid team description 2012, in RoboCup 2012 Symposium papers and Team Description papers, Mexico City, Mexico, 8, (2012)

P.W.M. van Zutven, D. Kostić, H. Nijmeijer, Foot placement for planar bipeds with point feet, in IEEE International Conference on Robotics and Automation (ICRA), Editor: Paul Y. Oh, Saint Paul, USA, 983-988, (2012)

S.J. van Dalen, Coaches: P.W.M. van Zutven, H. Nijmeijer, A linear inverted pendulum walk implemented on TUlip, 84, DCT 2012.015, Internal Report (2012)

P.W.M. van Zutven, H. Nijmeijer, Foot placement for balance in planar bipeds with point feet, in 31st Benelux meeting on systems and control, Editors: Hans Stigter and Gjerrit Meinsma, Wageningen, Netherlands, 40, (2012)

H.C. Bouwmans, Coaches: P.W.M. van Zutven, H. Nijmeijer, Gravity compensation for a bipedal humanoid robot, 30, DCT 2012.017, Internal Report (2012)

I.M.H. van Haaren, Coaches: P.W.M. van Zutven, Design of a robotic arm, 30, DCT 2012.006, Internal Report (2012)

T.J. Melief, Coaches: P.W.M. van Zutven, Leer een tweebenige robot lopen, 45, DCT 2012.005, Internal Report (2012)

Publications 2011

G.J.T.J. Verstralen, Coaches: P.C.J.N. Rosielle, M. Steinbuch, Concept design of a humanoid robot's upper body, 51, CST 2011.95, Internal Report (2011)

P.W.M. van Zutven, P. Mironchyk, C. Çilli, E. Steur, E. Ilhan, J. Caarls, R.S. Pieters, A. Filiz, P. Heijkoop, T. de Boer, A. Smorenberg, E. van Breda, G. Liqui Lung, F. Wilbers, C Plooij, G. van der Hoorn, S. Kiemel, R. Reinink, E. Dertien, G. van Oort, D. Kostić, H. Nijmeijer, M. Wisse, P.P. Jonker, R. Carloni, S. Stramigioli, T.P.H. Warmerdam, Dutch Robotics 2011 adult-size team description, in RoboCup 2011 Symposium papers and Team Description papers, Istanbul, Turkey, 7, (2011)

T.M. Assman, Coaches: H. Nijmeijer, A. Takanishi, K. Hashimoto, Biomechanically motivated lateral biped balancing using momentum control, DCT 2011.035, Internal Report (2011)

L.C. van Breugel, Coaches: D. Kostić, H. Nijmeijer, Feedback controller tuning on a humanoid robot, 40, DCT 2011.009, Internal Report (2011)

P.W.M. van Zutven, D. Kostić, H. Nijmeijer, Controlled symmetries for the compass biped, in 30th Benelux meeting on systems and control, Editors: Clara Ionescu, Robin de Keyser, Patrick Guillaume, Rik Pintolon, Johan Schoukens, Ilse Smets, Joos Vandewalle, Jan van Impe and Jan Swevers, Gent, Belgium, 65, (2011)

H.B. Koolmees, B. Moris, T.A.J. Thevissen, Coaches: D. Kostić, P.W.M. van Zutven, H. Nijmeijer, Stickman manual, 15, Internal Report (2011)

H.B. Koolmees, B. Moris, T.A.J. Thevissen, Coaches: D. Kostić, P.W.M. van Zutven, H. Nijmeijer, Stickman control, part 2, 42, Internal Report (2011)

H.B. Koolmees, B. Moris, T.A.J. Thevissen, Coaches: D. Kostić, P.W.M. van Zutven, H. Nijmeijer, Stickman control, part 1, 49, Internal Report (2011)

M.H.M. Lamers, Coaches: P.C.J.N. Rosielle, M. Steinbuch, Redesign of the TUlip hip joint, 40, DCT 2011.007, Internal Report (2011)

Publications 2010

P.W.M. van Zutven, D. Kostić, H. Nijmeijer, On the Stability of Bipedal Walking, in 2nd International Conference on Simulation, Modeling and Programming for Autonomous Robots, Editors: Noriaki Ando, Stephen Balakirsky, Monica Reggiani and Oskar von Stryk, Darmstadt, Germany, 521-532, (2010)

P.W.M. van Zutven, D. Kostić, H. Nijmeijer, Parameter identification of robotic systems with series elastic actuators, in 8th IFAC Symposium on Nonlinear Control Systems, Editors: Lorenzo Marconi and Carlo Rossi, Bologna, Italy, 350-355, (2010)

P.W.M. van Zutven, P. Mironchyk, C. Çilli, E. Steur, E. Ilhan, J. Caarls, R.S. Pieters, A. Filiz, P. Heijkoop, T. de Boer, A. Smorenberg, E. van Breda, G. Liqui Lung, F. Wilbers, C. Plooij, G. van der Hoorn, S. Kiemel, R. Reinink, E. Dertien, G. van Oort, D. Kostić, H. Nijmeijer, M. Wisse, P.P. Jonker, R. Carloni, S. Stramigioli , T.P.H. Warmerdam, Dutch Robotics 2010 adult-size team description, in RoboCup 2010 Symposium papers and Team Description papers, Singapore, Singapore, 6, (2010)

P.W.M. van Zutven, D. Kostić, H. Nijmeijer, Modeling, identification and stability of a humanoid robot, in 29th Benelux meeting on systems and control, Editors: Hans Stigter and Gjerrit Meinsma, Wageningen, Netherlands, 47, (2010)

T.M. Assman, Coaches: D. Kostić, H. Nijmeijer, Balance recorvery of a planar biped using the foot placement estimator, 24, DCT 2010.007, Internal Report (2010)

R.C. Kooijman, Coaches: D. Kostić, H. Nijmeijer, Evaluation of Open Dynamics Engine software, 69, DCT 2010.022, Internal Report (2010)

T.M.W. van Tilburg, Coaches: H. Nijmeijer, D. Kostić, A. Denasi, Control of a 1 degree-of-freedom series elastic actuator on a humanoid robot, 28, DCT 2010.024, Internal Report (2010)

G.J.T.J. Verstralen, Coaches: D. Kostić, H. Nijmeijer, Accessing sensors for control of a humanoid robot, 40, D&C 2010.027, Internal Report (2010)

M.H.P. Dekker, Coaches: P.C.J.N. Rosielle, H. Nijmeijer, Mechanical design of a humanoid robot's lower body, 97, DCT 2010.063, Internal Report (2010)

B. Eenink, Coaches: P.C.J.N. Rosielle, H. Nijmeijer, Het herontwerpen van een knie-actuator voor de TUlip, 44, DCT -, Internal Report (2010)

Publications 2009

P.W.M. van Zutven, Coaches: D. Kostić, H. Nijmeijer, Modeling, identification and stability of humanoid robots, 78, DCT 2009.100, Internal Report (2009)

P. Heijkoop, T. de Boer, A. Smorenberg, E. van Breda, G. Liqui Lung, F. Wilbers, C. Plooij, G. van der Hoorn, S. Kiemel, E. Dertien, G. van Oort, M. Wisse, P.P. Jonker, S. Stramigioli, H. Nijmeijer, D. Kostić, T.P.H. Warmerdam, Dutch Robotics 2009 teen-size team description, in RoboCup 2009 Symposium papers and Team Description papers, Graz, Austria, 6, (2009)

M.H.P. Dekker, Coaches: H. Nijmeijer, D. Kostić, Zero-Moment Point Method for Stable Biped Walking, 50, DCT 2009.072, Internal Report (2009)

E.A.C.S. Peeters, Coaches: P.P. Jonker, D. Kostić, H. Nijmeijer, Legged locomotion: towards reinforcement learning dynamics interpretation, 73, DCT 2009.033, Internal Report (2009)

J. Kanehara, Coaches: D. Kostić, H. Nijmeijer, Modeling and simulation of the 4-link biped robot with Coulomb friction by time-stepping method, 38, DCT -, Internal Report (2009)

Publications 2008

P. Heijkoop, T. de Boer, A. Smorenberg, E. van Breda, G. Liqui Lung, F. Wilbers, C. Plooij, G. van der Hoorn, E. Dertien, G. van Oort, M. Wisse, P.P. Jonker, S. Stramigioli, H. Nijmeijer, T.P.H. Warmerdam, Dutch Robotics 2008 teen-size team description, in RoboCup 2008 Symposium papers and Team Description papers, Suzhou, China, 8, (2008)

S.W. Boere en P.W.M. van Zutven, Coaches: M. Wisse, H. Nijmeijer, Knee flexion during push off in limit cycle walkers, 26, DCT 2008.011, Internal Report (2008)

Publications 2006

E.A.C.S. Peeters, Coaches: Y. Tazaki, H. Nijmeijer, Generation of semi-optimal gait trajectories for a biped robot, 25, DCT 2006.124, Internal Report (2006)

Software Documentation

We have released the simulator of TUlip as a package on ROS. Documentation about this package can be found on the tulip_simulator page.

The preferred installation to run our software is Ubuntu Desktop 12.04 32-bit. This installation and the installation instructions can be found on the Ubuntu website.

Our software is available in our private SVN, which can be checked out as follows:

svn co https://robocup.3xo.eu/ROBOCUP-3TU/ROBOCUP2008/Tulip/branches/software/branch_TUe

Our software depends on a number of standard Ubuntu packages which can automatically be installed as follows:

cd branch_TUe
./install_dependencies.sh

To compile all software, run the compiler:

make

The first build trail compiles the software to run on the robot. If you would like to compile the software to run on your own computer, open the file runtarget.make:

gedit runtarget.make

and change the runtarget to:

  • SIM, to run the software without dynamic simulator:
export RUNTARGET=SIM
  • ROS, to run the software with dynamic simulator Gazebo in ROS Electric:
export RUNTARGET=ROS
  • ROS_FUERTE, to run the software with dynamic simulator Gazebo in ROS Fuerte:
export RUNTARGET=ROS_FUERTE
  • ROS_GROOVY, to run the software with dynamic simulator Gazebo in ROS Groovy:
export RUNTARGET=ROS_GROOVY

The corresponding ROS version is automatically installed if it is not found on the system.

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