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Roa Garzon, Máximo Alejandro and Henze, Bernd and Ott, Christian (2018) Model-Based Posture Control for a Torque-Controlled Humanoid Robot. In: 2018 International Symposium on Wearable Robotics and Rehabilitation, WeRob 2018, 22, pp. 344-347. Springer International Publishing. International Symposium on Wearable Robotics, 2018-10-16 - 2018-10-20, Pisa, Italy. doi: 10.1007/978-3-030-01887-0. ISBN 978-3-030-01886-3.
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Official URL: https://link.springer.com/chapter/10.1007/978-3-030-01887-0_66
Abstract
This talk presents an overview of the development of a full-body model-based passivity approach for posture control of a humanoid robot. The controller exploits passivity properties to provide suitable control inputs for the humanoid robot without requiring a solution to the inverse kinematics problem of the full kinematic chain. The controller has been validated in numerous experiments using the torque-controlled humanoid robot TORO, developed at the German Aerospace Center (DLR).
| Item URL in elib: | https://elib.dlr.de/125287/ | ||||||||||||||||
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| Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||
| Title: | Model-Based Posture Control for a Torque-Controlled Humanoid Robot | ||||||||||||||||
| Authors: |
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| Date: | 2018 | ||||||||||||||||
| Journal or Publication Title: | 2018 International Symposium on Wearable Robotics and Rehabilitation, WeRob 2018 | ||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||
| Open Access: | No | ||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||
| In SCOPUS: | No | ||||||||||||||||
| In ISI Web of Science: | No | ||||||||||||||||
| Volume: | 22 | ||||||||||||||||
| DOI: | 10.1007/978-3-030-01887-0 | ||||||||||||||||
| Page Range: | pp. 344-347 | ||||||||||||||||
| Publisher: | Springer International Publishing | ||||||||||||||||
| Series Name: | Biosystems & Biorobotics | ||||||||||||||||
| ISBN: | 978-3-030-01886-3 | ||||||||||||||||
| Status: | Published | ||||||||||||||||
| Keywords: | Humanoid robots, legged robots, compliance and impedance control | ||||||||||||||||
| Event Title: | International Symposium on Wearable Robotics | ||||||||||||||||
| Event Location: | Pisa, Italy | ||||||||||||||||
| Event Type: | international Conference | ||||||||||||||||
| Event Start Date: | 16 October 2018 | ||||||||||||||||
| Event End Date: | 20 October 2018 | ||||||||||||||||
| 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: | 28 Mar 2023 14:55 | ||||||||||||||||
| Last Modified: | 24 Apr 2024 20:29 |
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