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Dynamic Multi-contact Transitions for Humanoid Robots

Mesesan, George (2016) Dynamic Multi-contact Transitions for Humanoid Robots. DLR-Interner Bericht. DLR-IB-RM-OP-2016-209. Diploma. Technische Universität München.

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This thesis presents a new method for planning and controlling dynamic multi-contact motions for humanoid robots. The motion planner takes a sequence of multi-contact stances and generates closed-form reference trajectories for the robot center of mass (CoM) position, velocity, and acceleration, based on the concept of Divergent Component of Motion (DCM). The timing of the contact transitions and the end-effector trajectories are automatically computed such that the motion is feasible with respect to kinematic and dynamic constraints. The constraints are verified using a simplified model of the humanoid robot to achieve a very fast planner that finds a feasible solution within several seconds. The reference trajectories serve as inputs to a passivity-based whole-body controller which includes a DCM controller for tracking the CoM trajectory. The robustness of the method is demonstrated in simulation and experiments with the humanoid robot TORO.

Item URL in elib:https://elib.dlr.de/106361/
Document Type:Monograph (DLR-Interner Bericht, Diploma)
Title:Dynamic Multi-contact Transitions for Humanoid Robots
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Mesesan, GeorgeUNSPECIFIEDhttps://orcid.org/0000-0001-5110-2988UNSPECIFIED
Refereed publication:No
Open Access:No
Keywords:Humanoid Robot, Control, Multi-contact control
Institution:Technische Universität München
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 - Walking Robotics/Locomotion [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Institute of Robotics and Mechatronics (since 2013)
Deposited By: Ott, Dr. Christian
Deposited On:29 Nov 2016 12:14
Last Modified:28 Mar 2023 23:46

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