DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

Online Centroidal Angular Momentum Reference Generation and Motion Optimization for Humanoid Push Recovery

Schuller, Robert and Mesesan, George-Adrian and Englsberger, Johannes and Lee, Jinoh and Ott, Christian (2021) Online Centroidal Angular Momentum Reference Generation and Motion Optimization for Humanoid Push Recovery. IEEE Robotics and Automation Letters, 6 (3), pp. 5689-5696. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2021.3082023. ISSN 2377-3766.

[img] PDF - Postprint version (accepted manuscript)
[img] PDF - Published version

Official URL: https://ieeexplore.ieee.org/document/9435940


This letter presents a new push recovery algorithm for humanoid robots in balancing scenarios by exploiting the system's rotational dynamics. The proposed framework actively generates centroidal angular momentum (CAM) references based on the force magnitude and direction of the push to counteract the disturbance and maintain its balance. Since a humanoid robot can only store a limited amount of angular momentum, the CAM reference is generated in three consecutive phases: 1) CAM generation phase to counteract the push; 2) CAM reduction phase to bring the robot to a halt; and 3) posture recovery phase to converge to the reference pose again. A subsequent whole-body motion optimizer, formulated as a constrained quadratic optimization problem, generates kinematically feasible whole-body trajectories based on the CAM reference. The proposed framework is validated through experiments with the humanoid robot TORO.

Item URL in elib:https://elib.dlr.de/144076/
Document Type:Article
Title:Online Centroidal Angular Momentum Reference Generation and Motion Optimization for Humanoid Push Recovery
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Schuller, RobertUNSPECIFIEDhttps://orcid.org/0000-0001-6034-5586UNSPECIFIED
Mesesan, George-AdrianUNSPECIFIEDhttps://orcid.org/0000-0001-5110-2988UNSPECIFIED
Englsberger, JohannesUNSPECIFIEDhttps://orcid.org/0000-0002-8117-2650UNSPECIFIED
Lee, JinohUNSPECIFIEDhttps://orcid.org/0000-0002-4901-7095UNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Date:July 2021
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 5689-5696
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Humanoid and bipedal locomotion, Whole-body motion planning and control
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: Lee, Dr. Jinoh
Deposited On:24 Sep 2021 14:52
Last Modified:01 Aug 2023 03:00

Repository Staff Only: item control page

Help & Contact
electronic library is running on EPrints 3.3.12
Website and database design: Copyright © German Aerospace Center (DLR). All rights reserved.