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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. HUMANOIDS 2020, München, Deutschland.

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Abstract

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
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Englsberger, JohannesJohannes.Englsberger (at) dlr.dehttps://orcid.org/0000-0002-8117-2650
Giordano, Alessandro MassimoAlessandro.Giordano (at) dlr.dehttps://orcid.org/0000-0003-2291-7525
Hiddane, Achrafhiddane1 (at) gmail.comUNSPECIFIED
Schuller, RobertRobert.Schuller (at) dlr.deUNSPECIFIED
Loeffl, Florian ChristophFlorian.Loeffl (at) dlr.deUNSPECIFIED
Mesesan, George-AdrianGeorge.Mesesan (at) dlr.dehttps://orcid.org/0000-0001-5110-2988
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Date:15 July 2021
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
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:09 Dec 2021 14:31

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