Control of Humanoid in Multiple Fixed and Moving Unilateral Contacts

10/21/2021
by   Julien Roux, et al.
0

Enforcing balance of multi-limbed robots in multiple non-coplanar unilateral contact settings is challenging when a subset of such contacts are also induced in motion tasks. The first contribution of this paper is in enhancing the computational performance of state-of-the-art geometric center-of-mass inclusion-based balance method to be integrated online as part of a task-space whole-body control framework. As a consequence, our second contribution lies in integrating such a balance region with relevant contact force distribution without pre-computing a target center-of-mass. This last feature is essential to leave the latter with freedom to better comply with other existing tasks that are not captured in classical twolevel approaches. We assess the performance of our proposed method through experiments using the HRP-4 humanoid robot.

READ FULL TEXT

page 1

page 7

research
03/04/2021

Humanoid Control Under Interchangeable Fixed and Sliding Unilateral Contacts

In this letter, we propose a whole-body control strategy for humanoid ro...
research
07/03/2019

Sensitivity of Legged Balance Control to Uncertainties and Sampling Period

We propose to quantify the effect of sensor and actuator uncertainties o...
research
10/07/2018

Online Center of Mass Estimation for a Humanoid Wheeled Inverted Pendulum Robot

We present a novel application of robust control and online learning for...
research
09/30/2019

Balance of Humanoid robot in Multi-contact and Sliding Scenarios

This study deals with the balance of humanoid or multi-legged robots in ...
research
08/13/2023

Impact-Aware Multi-Contact Balance Criteria

Intentionally applying impacts while maintaining balance is challenging ...
research
11/13/2020

Shaking Force Balancing of the Orthoglide

The shaking force balancing is a well-known problem in the design of hig...
research
03/19/2019

Feasible Region: an Actuation-Aware Extension of the Support Region

In legged locomotion the support region is defined as the 2D horizontal ...

Please sign up or login with your details

Forgot password? Click here to reset