Human based hybrid kinematic/dynamic whole-body control in humanoid robotics
| Autor: | Galdeano, David, Chemori, Ahmed, Krut, Sébastien, Fraisse, Philippe |
|---|---|
| Přispěvatelé: | Interactive Digital Humans (IDH), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Conception et commande de robots pour la manipulation (DEXTER), Control of Artificial Movement and Intuitive Neuroprosthesis (CAMIN), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS), Robotique médicale et mécanismes parallèles (DEXTER), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM) |
| Jazyk: | angličtina |
| Rok vydání: | 2014 |
| Předmět: | |
| Zdroj: | HLR: Humanoid and Legged Robots HLR: Humanoid and Legged Robots, May 2014, Heidelberg, Germany. French-German-Japanese Conference on Humanoid and Legged Robots, 2014 HLR: Humanoid and Legged Robots, May 2014, Heidelberg, Germany., French-German-Japanese Conference on Humanoid and Legged Robots, 2014 |
| Popis: | International audience; In this paper, a task based whole-body control strategy with non-linear stabilizeris proposed for humanoid robots. Its basic idea lies in the control of (i) the CoM, (ii) the relative pose of robot's feet and (iii) joint's limit avoidance. A non-linear ZMP-based regulation is added in the CoM control space to improve the stability. Through the proposed study, it is shown that these tasks allow to produce smooth whole-body motions. Real-time experimentation results are presented to show the effectiveness of the proposed control scheme. |
| Databáze: | OpenAIRE |
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