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From Space to Earth - Relative-CoM-to-Foot (RCF) control yields high contact robustness

Englsberger, Johannes and Giordano, Alessandro Massimo and Hiddane, Achraf and Schuller, Robert and Loeffl, Florian Christoph and Mesesan, George-Adrian and Ott, Christian (2021) From Space to Earth - Relative-CoM-to-Foot (RCF) control yields high contact robustness. In: 20th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2020. HUMANOIDS 2020, München, Deutschland. doi: 10.1109/HUMANOIDS47582.2021.9555804. ISBN 978-172819372-4. ISSN 2164-0572.

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Official URL: https://ieeexplore.ieee.org/document/9555804


This paper introduces the Simplest Articulated Free-Floating (SAFF) model, a low-dimensional model facilitating the examination of controllers, which are designed for freefloating robots that are subject to gravity. Two different stateof-the-art control approaches, namely absolute CoM control accompanied by an assumption about the foot acceleration, and a controller combining absolute CoM and foot control objectives, are shown to yield exponential stability in the nominal case, while becoming unstable if the foot contact is lost. As an improvement over the state of the art, the so-called Relative-CoM-to-Foot (RCF) controller is introduced, which again yields exponential stability nominally, while preserving a BIBO stable behavior even in case of a complete contact loss. The controller performance is validated in various simulations.

Item URL in elib:https://elib.dlr.de/143111/
Document Type:Conference or Workshop Item (Poster)
Title:From Space to Earth - Relative-CoM-to-Foot (RCF) control yields high contact robustness
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Englsberger, JohannesUNSPECIFIEDhttps://orcid.org/0000-0002-8117-2650UNSPECIFIED
Giordano, Alessandro MassimoUNSPECIFIEDhttps://orcid.org/0000-0003-2291-7525UNSPECIFIED
Schuller, RobertUNSPECIFIEDhttps://orcid.org/0000-0001-6034-5586UNSPECIFIED
Loeffl, Florian ChristophUNSPECIFIEDhttps://orcid.org/0000-0002-6914-5414UNSPECIFIED
Mesesan, George-AdrianUNSPECIFIEDhttps://orcid.org/0000-0001-5110-2988UNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Date:15 July 2021
Journal or Publication Title:20th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2020
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Keywords:whole-body control (WBC), humanoid robotics, contact robustness
Event Title:HUMANOIDS 2020
Event Location:München, Deutschland
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Walking robot/locomotion [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Englsberger, Dr.-Ing. Johannes
Deposited On:15 Jul 2021 17:24
Last Modified:27 Mar 2023 10:08

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