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, 2021-07-19 - 2021-07-21, 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
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/ | ||||||||||||||||||||||||||||||||
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Document Type: | Conference or Workshop Item (Poster) | ||||||||||||||||||||||||||||||||
Title: | From Space to Earth - Relative-CoM-to-Foot (RCF) control yields high contact robustness | ||||||||||||||||||||||||||||||||
Authors: |
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Date: | 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 SCOPUS: | Yes | ||||||||||||||||||||||||||||||||
In ISI Web of Science: | Yes | ||||||||||||||||||||||||||||||||
DOI: | 10.1109/HUMANOIDS47582.2021.9555804 | ||||||||||||||||||||||||||||||||
ISSN: | 2164-0572 | ||||||||||||||||||||||||||||||||
ISBN: | 978-172819372-4 | ||||||||||||||||||||||||||||||||
Status: | Published | ||||||||||||||||||||||||||||||||
Keywords: | whole-body control (WBC), humanoid robotics, contact robustness | ||||||||||||||||||||||||||||||||
Event Title: | HUMANOIDS 2020 | ||||||||||||||||||||||||||||||||
Event Location: | München, Deutschland | ||||||||||||||||||||||||||||||||
Event Type: | international Conference | ||||||||||||||||||||||||||||||||
Event Start Date: | 19 July 2021 | ||||||||||||||||||||||||||||||||
Event End Date: | 21 July 2021 | ||||||||||||||||||||||||||||||||
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: | 05 Jun 2024 12:03 |
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