Optimization of Humanoid Robot Designs for Human-Robot Ergonomic Payload Lifting

C.Sartore, L.Rapetti, D.Pucci "Optimization of Humanoid Robot Designs for Human-Robot Ergonomic Payload Lifting" in 2022 IEEE-RAS International Conference on Humanoid Robotics (Humanoids)

OptimizationofHumanoidRobotDesigns.mp4

IEEE-RAS International Conference on Humanoid Robotics

Installation | Paper | Video

Installation

⚠️ The repository depends on HSL for IPOPT (Coin-HSL), to correctly link the library please substitute this line of the docker image with the absolute path to the coinhsl.zip. In particular, for the paper experiments, Coin-HSL 2019.05.21 has been used, but also later version should work fine.

⚠️ This repository depends on docker

To install the repo on a Linux terminal follow the following steps

git clone https://github.com/ami-iit/paper_sartore_2022_humanoids_ergonomic_design.git  
cd paper_sartore_2022_humanoids_ergonomic_design
docker build --tag sartore2022results . 

Before running the docker image, you have to disable the access control to allow the visualization of the optimization output, this can be done via the following command

xhost +

For running the docker image use the following command

docker run --net=host --env="DISPLAY=$DISPLAY" --volume="/tmp/.X11-unix:/tmp/.X11-unix" --privileged -it sartore2022results

⚠️ Once you have collected the results, we suggest to re-activate the access control via the following command

xhost -

Citing this work

@INPROCEEDINGS{Sartore2022Optimization,
  author={Sartore, Carlotta and Rapetti, Lorenzo and Pucci, Daniele},
  booktitle={2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)}, 
  title={Optimization of Humanoid Robot Designs for Human-Robot Ergonomic Payload Lifting}, 
  year={2022},
  volume={},
  number={},
  pages={722-729},
  doi={10.1109/Humanoids53995.2022.10000222}}

Maintainer

This repository is maintained by:

	@CarlottaSartore