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Passivity-Based Whole-Body Balancing for Torque-Controlled Humanoid Robots in Multi-Contact Scenarios

Henze, Bernd and Roa Garzon, Máximo Alejandro and Ott, Christian (2016) Passivity-Based Whole-Body Balancing for Torque-Controlled Humanoid Robots in Multi-Contact Scenarios. International Journal of Robotics Research. SAGE Publications. doi: 10.1177/0278364916653815. ISSN 0278-3649.

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This work presents a new control approach to multi-contact balancing for torque-controlled humanoid robots. The controller includes a non-strict task hierarchy, which allows the robot to use a subset of its end effectors for balancing while the remaining ones can be used for interacting with the environment. The controller creates a passive and compliant behavior for regulating the center of mass (CoM) location, hip orientation and the poses of each end effector assigned to the interaction task. This is achieved by applying a suitable wrench (force and torque) at each one of the end effectors used for interaction. The contact wrenches at the balancing end effectors are chosen such that the sum of the balancing and interaction wrenches produce the desired wrench at the CoM. The algorithm requires the solution of an optimization problem, which distributes the CoM wrench to the end effectors taking into account constraints for unilaterality, friction and position of the center of pressure. Furthermore, the Feedback controller is combined with a feedforward control in order to improve performance while tracking a predefined trajectory, leading to a control structure similar to a PD+ control. The controller is evaluated in several experiments with the humanoid robot TORO.

Item URL in elib:https://elib.dlr.de/105384/
Document Type:Article
Title:Passivity-Based Whole-Body Balancing for Torque-Controlled Humanoid Robots in Multi-Contact Scenarios
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Roa Garzon, Máximo AlejandroUNSPECIFIEDhttps://orcid.org/0000-0003-1708-4223UNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Date:12 July 2016
Journal or Publication Title:International Journal of Robotics Research
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Publisher:SAGE Publications
Keywords:Multi-contact balancing, whole-body control, torque control, humanoid robot
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Terrestrial Assistance Robotics (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Henze, Bernd
Deposited On:25 Jul 2016 13:55
Last Modified:03 Nov 2023 07:40

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