dLabRoboticsMIT
dLabRoboticsMIT
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Supernumerary Robotic Limbs to Support Post Fall Recoveries for Astronauts - ICRA 2024
This paper proposes the utilization of Supernumerary Robotic Limbs (SuperLimbs) for augmenting astronauts during an Extra-Vehicular Activity (EVA) in a partial-gravity environment. We investigate the effectiveness of SuperLimbs in assisting astronauts to their feet following a fall. Based on preliminary observations from a pilot human study, we categorized post-fall recoveries into a sequence of statically stable poses called “waypoints”. The paths between the waypoints can be modeled with a simplified kinetic motion applied about a specific point on the body. Following the characterization of post-fall recoveries, we designed a task-space impedance control with high damping and low stiffness, where the SuperLimbs provide an astronaut with assistance in post-fall recovery while keeping the human-in-the-loop scheme. In order to validate this control scheme, a full-scale wearable analog space suit was constructed and tested with a SuperLimbs prototype. Results from the experimentation found that without assistance, astronauts would impulsively exert themselves to perform a post-fall recovery, which resulted in high energy consumption and instabilities maintaining an upright posture, concurring with prior NASA studies. When the SuperLimbs provided assistance, the astronaut’s energy consumption and deviation in their tracking as they performed a post-fall recovery was reduced considerably.
มุมมอง: 748

วีดีโอ

Two-Body Bot Demonstration
มุมมอง 83611 หลายเดือนก่อน
R. Bolli and H. H. Asada, "Enhancing Elderly Mobility: A Sturdy, Two-Body Robot for Handlebar Placement in Any Location," in IEEE Robotics and Automation Letters, vol. 9, no. 3, pp. 2654-2661, March 2024, doi: 10.1109/LRA.2024.3359549. keywords: {Robots;Older adults;Bars;Kinematics;Force;Sociology;Mobile robots;Domestic robotics;nonholonomic mechanisms and systems;physically assistive devices},
Handle Anywhere: A Mobile Robot Arm for Providing Bodily Support to Elderly Persons
มุมมอง 322ปีที่แล้ว
IROS Submission 2023
Supernumerary Robotic Limbs for Next Generation Space Suit Technology - ICRA 2023
มุมมอง 2Kปีที่แล้ว
This paper discusses the incorporation of a pair of Supernumerary Robotic Limbs (SuperLimbs) onto the next generation of NASA space suits. The wearable robots attached to the space suit assist an astronaut in performing Extra-Vehicular Activities (EVAs). The SuperLimbs grab handrails fixed to the outside of a space vehicle to securely hold the astronaut body. The astronaut can use both hands fo...
Nicholas Selby PhD Defense
มุมมอง 8013 ปีที่แล้ว
On the Application of Machine Learning and Physical Modeling Theory to Causal Lifting Linearizations of Nonlinear Dynamical Systems with Exogenous Input and Control
Rachel Hoffman-Bice Thesis Defense
มุมมอง 3673 ปีที่แล้ว
Rachel Hoffman-Bice Thesis Defense
Lecture 25 Dual Faceted Linearization with Application to Nonlinear Model Predictive Control
มุมมอง 7204 ปีที่แล้ว
All of the lecture recordings, slides, and notes are available on our lab website: darbelofflab.mit.edu
Lecture 23: Gaussian Processes
มุมมอง 1.2K4 ปีที่แล้ว
All of the lecture recordings, slides, and notes are available on our lab website: darbelofflab.mit.edu
Lecture 22: Support Vector Machines and Kernel Methods
มุมมอง 6524 ปีที่แล้ว
All of the lecture recordings, slides, and notes are available on our lab website: darbelofflab.mit.edu
Lecture 21: Deep Learning with CNN and RNN
มุมมอง 8714 ปีที่แล้ว
All of the lecture recordings, slides, and notes are available on our lab website: darbelofflab.mit.edu
Lecture 20: Neural Networks and Error Backpropagation
มุมมอง 1.1K4 ปีที่แล้ว
All of the lecture recordings, slides, and notes are available on our lab website: darbelofflab.mit.edu
Lecture 19: Nonlinear Function Approximation
มุมมอง 1.5K4 ปีที่แล้ว
All of the lecture recordings, slides, and notes are available on our lab website: darbelofflab.mit.edu
Lecture 18: MOESP and N4SID
มุมมอง 4.5K4 ปีที่แล้ว
All of the lecture recordings, slides, and notes are available on our lab website: darbelofflab.mit.edu
Lecture 17: Subspace Methods for System Identification
มุมมอง 7K4 ปีที่แล้ว
All of the lecture recordings, slides, and notes are available on our lab website: darbelofflab.mit.edu
Lecture 16: Unbiased Identification
มุมมอง 7604 ปีที่แล้ว
All of the lecture recordings, slides, and notes are available on our lab website: darbelofflab.mit.edu
Lecture 14: Parametric Linear System Identification
มุมมอง 3.1K4 ปีที่แล้ว
Lecture 14: Parametric Linear System Identification
Lecture 15: Asymptotic Distribution of Parameter Estimates
มุมมอง 1.6K4 ปีที่แล้ว
Lecture 15: Asymptotic Distribution of Parameter Estimates
Lecture 13: Non Parametric Linear System Identification
มุมมอง 4K4 ปีที่แล้ว
Lecture 13: Non Parametric Linear System Identification
Lecture 12: Particle Filter
มุมมอง 5K4 ปีที่แล้ว
Lecture 12: Particle Filter
Lecture 8: Continuous Time Kalman Filter
มุมมอง 4.4K4 ปีที่แล้ว
Lecture 8: Continuous Time Kalman Filter
Lecture 6: Partial Least Squares Regression
มุมมอง 22K4 ปีที่แล้ว
Lecture 6: Partial Least Squares Regression
Lecture 11: Simultaneous Localization and Mapping (SLAM)
มุมมอง 2.6K4 ปีที่แล้ว
Lecture 11: Simultaneous Localization and Mapping (SLAM)
Lecture 10: Bayes Filter
มุมมอง 2K4 ปีที่แล้ว
Lecture 10: Bayes Filter
Lecture 7: Discrete Time Kalman Filter
มุมมอง 7K4 ปีที่แล้ว
Lecture 7: Discrete Time Kalman Filter
Lecture 9: Extended Kalman Filter and Unscented Kalman Filter
มุมมอง 15K4 ปีที่แล้ว
Lecture 9: Extended Kalman Filter and Unscented Kalman Filter
Lecture 5: Principal Component Regression
มุมมอง 2.5K4 ปีที่แล้ว
Lecture 5: Principal Component Regression
Lecture 3: Recursive Least Squares with Forgetting Factor
มุมมอง 9K4 ปีที่แล้ว
Lecture 3: Recursive Least Squares with Forgetting Factor
Lecture 1: Introduction to Identification, Estimation, and Learning
มุมมอง 9K4 ปีที่แล้ว
Lecture 1: Introduction to Identification, Estimation, and Learning
Lecture 4: Random Variables and Random Processes
มุมมอง 2K4 ปีที่แล้ว
Lecture 4: Random Variables and Random Processes
Lecture 2: Least Squares
มุมมอง 4K4 ปีที่แล้ว
Lecture 2: Least Squares

ความคิดเห็น

  • @majdhammad7741
    @majdhammad7741 3 วันที่ผ่านมา

    WOW!!

  • @brunocosta1041
    @brunocosta1041 18 วันที่ผ่านมา

    Nice Explanation :)

  • @GaryRey-fq9oz
    @GaryRey-fq9oz 19 วันที่ผ่านมา

    How will the problem formulation change for closed-loop system identification where the D matrix is zero? State feedback control

  • @gio5607
    @gio5607 2 หลายเดือนก่อน

    Hi, are the exercises/projects of this course available, or at least similar ones?

  • @MrCaduceo
    @MrCaduceo 3 หลายเดือนก่อน

    I have no idea what most of the jargon is about, but I do know what SRL's are, and this is very cool!

  • @rudypieplenbosch6752
    @rudypieplenbosch6752 7 หลายเดือนก่อน

    Thanks for your clear explanation 👍

  • @srisaran1309
    @srisaran1309 7 หลายเดือนก่อน

    dear professor, I cant find the lecture 24 in the playlist please update it

  • @ALDead666
    @ALDead666 9 หลายเดือนก่อน

    An excellent reaction to a typo @19:08 !

  • @MathwithMing
    @MathwithMing ปีที่แล้ว

    If you wish to skip course logistics, go to 30:27

  • @danhazzan4486
    @danhazzan4486 ปีที่แล้ว

    Hello Professor, Thank you very much for the lecture, I learned a lot. Could you please explain the difference between X_t (the true value of X) and X_t as it appears in the equation for Y_t at minute 41 under the section of the error term? Thank you very much!

  • @sandoftimeh
    @sandoftimeh ปีที่แล้ว

    I've been struggling a hell lot to understand UKF this week, but your lecture demystifies everything in an hour!!! Thank you soooooo much!!!

  • @MrigankaMukherjeeiitk
    @MrigankaMukherjeeiitk ปีที่แล้ว

    Sir if you put assignments of the course it will be quite helpful.

  • @lalo346
    @lalo346 ปีที่แล้ว

    an anchored inverted arm would securely attach an astronaut to any surface by grasping handles on his exosuit

  • @kenzlflakes
    @kenzlflakes ปีที่แล้ว

    i want these, except on a backpack that i can use in the kitchen at work as a chef.

  • @apidennalive
    @apidennalive ปีที่แล้ว

    Thank you very much professor

  • @tomapa3364
    @tomapa3364 ปีที่แล้ว

    anyone knows what is the "d" on moesp matlab code?

  • @jesusantoniososaherrera2217
    @jesusantoniososaherrera2217 2 ปีที่แล้ว

    Second time I return to watch this explanation of PLSR. Thanks for sharing!

  • @josefnetoafro
    @josefnetoafro 2 ปีที่แล้ว

    great lecture.

  • @juliosdutra_ufes
    @juliosdutra_ufes 2 ปีที่แล้ว

    Interesting lecture.

  • @adamjiang3044
    @adamjiang3044 2 ปีที่แล้ว

    May I ask how many input-output pair will be sufficient to form a relatively correct model? Is their theoretical number can be defined for the requirement of data and how sufficiently excited is enough for state vector? Could you please advise? Thanks in advance.

  • @FUCKOFFYOUTUBEWITHTHISBULLSHIT
    @FUCKOFFYOUTUBEWITHTHISBULLSHIT 2 ปีที่แล้ว

    Thank you so much, saved me on some homework I was doing

  • @wagariwakjira2547
    @wagariwakjira2547 2 ปีที่แล้ว

    Great

  • @陈秋昊-d9i
    @陈秋昊-d9i 2 ปีที่แล้ว

    there is a typo in page 8, which at 29:53, L22 should belongs to R^kp*kp, not R^pm*pm.😊

  • @陈秋昊-d9i
    @陈秋昊-d9i 2 ปีที่แล้ว

    Is this a typo @54:25? v^T*X*X^T*v should equal to N*v^T*Cxx*v? But there is no N in slide, although it will be cancelled later.

  • @emadnouh5274
    @emadnouh5274 2 ปีที่แล้ว

    what book would you recommend ,in term of clarity of explanation , for RLS?

  • @DanHe0077
    @DanHe0077 2 ปีที่แล้ว

    Prof. Asada, Thank you very much for putting out your lectures on TH-cam! They are much appreciated :)

  • @diodin8587
    @diodin8587 2 ปีที่แล้ว

    40:30 Professor, you used eigen vectors for sigma points but I saw other materials use the columns (or rows) of Choleskey decomposition. Which is correct?

  • @engrtehniyat1162
    @engrtehniyat1162 2 ปีที่แล้ว

    Plz upload a video related to the application of recursive least square estimator in matlab

  • @romitjivani4367
    @romitjivani4367 2 ปีที่แล้ว

    another best source ever --> "Prof. Michel van Biezen"

  • @be1tube
    @be1tube 2 ปีที่แล้ว

    32:24 "There is no correlation between the blue state and the red state - Democrat and Republican" 🤣

  • @davidberggren499
    @davidberggren499 2 ปีที่แล้ว

    Thank you H. Harry Asada! Your lessons are very appreciated and easy to follow. Best Regards from Sweden, Örebro.

  • @davidberggren499
    @davidberggren499 2 ปีที่แล้ว

    Thank you H. Harry Asada! Your lessons are much appreciated and easy to follow. Best Regards.

  • @enjoymentwithmeargondal...542
    @enjoymentwithmeargondal...542 2 ปีที่แล้ว

    Great your method of teaching is sooo good 🥰

  • @paicup09
    @paicup09 2 ปีที่แล้ว

    Thank you very much for such an amazing lecture on PLSR !

  • @wamageed
    @wamageed 2 ปีที่แล้ว

    Best explanation for PLS I ever saw! Thank you

  • @YYchen713
    @YYchen713 2 ปีที่แล้ว

    Thank you! This is so clear and systematic! I am the one who use PLSR for chemistry :P

  • @오이찜
    @오이찜 2 ปีที่แล้ว

    @8:07 for some reason he drinking orange juice made me wanna go buy one too

  • @raulpalmaa
    @raulpalmaa 2 ปีที่แล้ว

    great lecture :)

  • @hailegebrieladera8801
    @hailegebrieladera8801 3 ปีที่แล้ว

    how to solve decouple v=c in vector form on iteraration

  • @hailegebrieladera8801
    @hailegebrieladera8801 3 ปีที่แล้ว

    if you lecture note /video about modified two step approach parameter estimation ,please may you help me?/

  • @EzraSchroeder
    @EzraSchroeder 3 ปีที่แล้ว

    what would be a good prerequisite text for the system dynamics needed for people who may only be missing that background?

  • @yiliangliu7288
    @yiliangliu7288 3 ปีที่แล้ว

    Great lecturer!

  • @chaitanya_mehta
    @chaitanya_mehta 3 ปีที่แล้ว

    Indeed an ingenious design. Can such results could be replicated on concrete walls with steel reinforcement?

  • @SATYAPRAKASHROUTPHD
    @SATYAPRAKASHROUTPHD 3 ปีที่แล้ว

    Thanks for this video lecture Sir. Its really helpful for start doing research work.

  • @JamesTJoseph
    @JamesTJoseph 3 ปีที่แล้ว

    Can we use Wiener-Hopf Equation to identify multi-input single output (MISO) system?

  • @JamesTJoseph
    @JamesTJoseph 3 ปีที่แล้ว

    Optimal playback speed 1.5-1.75

  • @dlq6850
    @dlq6850 3 ปีที่แล้ว

    日本人说的英语真迷糊

    • @alexfan3816
      @alexfan3816 2 ปีที่แล้ว

      这个教授其实没有很多口音,很清楚

  • @arya2689
    @arya2689 3 ปีที่แล้ว

    Hi Mr. Nicholas Shelby, If you are reading this, is it possible for you to upload the project and assignment pdf files too? It would be really helpful. Thanks in advance.

  • @ggh4627
    @ggh4627 3 ปีที่แล้ว

    thank you i will finish this course as soon as possible