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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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|
|Journal or Publication Title:||IEEE-RAS International Conference on Humanoid Robots|
|In ISI Web of Science:||No|
|Page Range:||pp. 26-33|
|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|
|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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