Humanoid push recovery control in case of multiple non-coplanar contacts
| Autor: | Alain Micaelli, Darine Mansour, Pierre Lemerle |
|---|---|
| Přispěvatelé: | Département Intelligence Ambiante et Systèmes Interactifs ( DIASI ), Laboratoire d'Intégration des Systèmes et des Technologies ( LIST ), Commissariat à l'énergie atomique et aux énergies alternatives ( CEA ) -Université Paris-Saclay-Commissariat à l'énergie atomique et aux énergies alternatives ( CEA ) -Université Paris-Saclay, Institut national de recherche et de sécurité (Vandoeuvre lès Nancy) ( INRS ( Vandoeuvre lès Nancy) ), Département Intelligence Ambiante et Systèmes Interactifs (DIASI), Laboratoire d'Intégration des Systèmes et des Technologies (LIST (CEA)), Direction de Recherche Technologique (CEA) (DRT (CEA)), Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Direction de Recherche Technologique (CEA) (DRT (CEA)), Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Université Paris-Saclay, Institut national de recherche et de sécurité (Vandoeuvre lès Nancy) (INRS ( Vandoeuvre lès Nancy)), Laboratoire d'Intégration des Systèmes et des Technologies (LIST) |
| Jazyk: | angličtina |
| Rok vydání: | 2013 |
| Předmět: |
0209 industrial biotechnology
Engineering [ INFO ] Computer Science [cs] Control (management) Stability (learning theory) Push recoveries Context (language use) 02 engineering and technology Humanoid robot Intelligent robots [SPI]Engineering Sciences [physics] 020901 industrial engineering & automation Control theory Simple modeling Recovery 0202 electrical engineering electronic engineering information engineering Whole body Controllers business.industry Contact position 020207 software engineering Control engineering Anthropomorphic robots Kinetics Non-coplanar Robot business Non coplanar MathematicsofComputing_DISCRETEMATHEMATICS |
| Zdroj: | IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013, 2013, Tokyo, Japan. pp.4137-4144, 2013, 〈10.1109/IROS.2013.6696949〉 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013, 2013, Tokyo, Japan. pp.4137-4144, ⟨10.1109/IROS.2013.6696949⟩ IROS |
| DOI: | 10.1109/IROS.2013.6696949〉 |
| Popis: | Conference of 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 ; Conference Date: 3 November 2013 Through 8 November 2013; Conference Code:102443; International audience; This paper presents a method for humanoid push recovery in the general context of multiple non-coplanar contacts. The method consists of a controller that minimizes the kinetic energy of a perturbed whole body humanoid system, while controlling the support change to achieve the stabilization (or push recovery) of the system. The controller uses a simple model based approach to determine the necessity of support change and in this case to approximate a new contact position that allows to stabilize the system. The controller is tested on a simulated humanoid robot and it succeeds in stabilizing the robot in coplanar and non-coplanar environments. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|