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Model-Based Posture Control for a Torque-Controlled Humanoid Robot

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, 16-20 Oct 2018, 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


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/
Document Type:Conference or Workshop Item (Speech)
Title:Model-Based Posture Control for a Torque-Controlled Humanoid Robot
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
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 ISI Web of Science:No
Page Range:pp. 344-347
Publisher:Springer International Publishing
Series Name:Biosystems & Biorobotics
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 Dates:16-20 Oct 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:28 Mar 2023 15:19

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