elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

Torque-based balancing

Ott, Christian and Hyon, Sang-Ho (2017) Torque-based balancing. In: Humanoid Robotics: A Reference Living reference work. Springer Science + Business Media. pp. 1-26. doi: 10.1007/978-94-007-7194-9_39-1. ISBN 978-94-007-7194-9.

Full text not available from this repository.

Official URL: https://link.springer.com/referenceworkentry/10.1007/978-94-007-7194-9_39-1

Abstract

This chapter presents an overview of balance control approaches which utilize joint torque as the control input. Such control approaches are particularly useful for robots with explicit measurement of the generalized actuation forces allowing for an inner loop torque control. As a system model, floating base robot dynamics is considered in combination with a set of contact constraints. After discussion of the problem of how to control contact forces for a constrained mechanical system, a detailed treatment of the force distribution problem is given, which appears in multi-contact situations of legged robots. In addition, the basic approaches to implement joint torque control in electrically and hydraulically actuated robots are discussed. The chapter presents the general control theory based on dynamic inversion and passivity theory and highlights some successful implementations using two torque-controlled humanoid robots based on electric and hydraulic actuation.

Item URL in elib:https://elib.dlr.de/117858/
Document Type:Book Section
Title:Torque-based balancing
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Hyon, Sang-HoRitsumeikan UniversityUNSPECIFIEDUNSPECIFIED
Date:2017
Journal or Publication Title:Humanoid Robotics: A Reference
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
DOI:10.1007/978-94-007-7194-9_39-1
Page Range:pp. 1-26
Editors:
EditorsEmailEditor's ORCID iDORCID Put Code
Goswami, AmbarishUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Vadakkepat, PrahladUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Publisher:Springer Science + Business Media
Series Name:Living reference work
ISBN:978-94-007-7194-9
Status:Published
Keywords:Humanoid Robots, Balancing, Torque Control
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
Deposited By: Ott, Dr. Christian
Deposited On:28 Mar 2023 15:34
Last Modified:28 Mar 2023 15:39

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Website and database design: Copyright © German Aerospace Center (DLR). All rights reserved.