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Posture and Balance Control for Biped Robots based on Contact Force Optimization

Ott, Christian and Roa, Maximo A. and Hirzinger, Gerd (2011) Posture and Balance Control for Biped Robots based on Contact Force Optimization. In: IEEE-RAS International Conference on Humanoid Robots, pp. 26-33. IEEE-RAS International Conference on Humanoid Robots, Bled, Slowenien.

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Abstract

This paper presents a new balancing control approach for regulating the center of mass position and trunk orientation of a bipedal robot in a compliant way. The controller computes a desired wrench (force and torque) required to recover the posture when an unknown external perturbation has changed the posture of the robot. This wrench is later distributed as forces at predefined contact points via a constrained optimization, which aims at achieving the desired wrench while minimizing the Euclidean norm of the contact forces. The formulation of the force distribution as an optimization problem is adopted from the grasping literature and allows to consider restrictions coming from the friction between the contact points and the ground.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Posture and Balance Control for Biped Robots based on Contact Force Optimization
Authors:
AuthorsInstitution or Email of Authors
Ott, ChristianChristian.Ott@dlr.de
Roa, Maximo A.maximo.roagarzon@dlr.de
Hirzinger, Gerdgerd.hirzinger@dlr.de
Date:2011
Journal or Publication Title:IEEE-RAS International Conference on Humanoid Robots
Refereed publication:Yes
In ISI Web of Science:No
Page Range:pp. 26-33
Status:Published
Keywords:Bipedal Robot, Humanoid Robot, Balancing Control, Contact Force Optimization
Event Title:IEEE-RAS International Conference on Humanoid Robots
Event Location:Bled, Slowenien
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Laufroboter/Lokomotion
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Christian Ott
Deposited On:09 Jan 2012 11:24
Last Modified:24 Feb 2012 10:57

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