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Agile and Dynamic Standing-up Control for Humanoids using 3D Divergent Component of Motion in Multi-contact Scenario

Zambella, Grazia and Schuller, Robert and Mesesan, George-Adrian and Bicchi, Antonio and Ott, Christian and Lee, Jinoh (2023) Agile and Dynamic Standing-up Control for Humanoids using 3D Divergent Component of Motion in Multi-contact Scenario. IEEE Robotics and Automation Letters, 8 (9), pp. 5624-5631. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2023.3297060. ISSN 2377-3766.

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Official URL: https://ieeexplore.ieee.org/document/10187680


Standing-up is a task that humanoids need to be able to perform in order to be employed in real-world scenarios. This letter proposes a new robust strategy for a humanoid to stand up in challenging scenarios where no completely preplanned motion can accomplish the same task. This strategy exploits the concept of three-dimensional divergent component of motion and passivity-based whole-body control. The latter firstly maximizes the push forces applied to the robot's center of mass to make agile whole-body recovery motion. Then, during the rising phase, it reduces these forces to zero and stabilizes the robot in an upward position. Optimization of centroidal angular momentum is fully integrated into the proposed whole-body standing-up control to create the trajectories of the hip and the upper body joints online. The effectiveness of the proposed method is validated in simulations and experiments on the humanoid TORO.

Item URL in elib:https://elib.dlr.de/195844/
Document Type:Article
Title:Agile and Dynamic Standing-up Control for Humanoids using 3D Divergent Component of Motion in Multi-contact Scenario
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Zambella, GraziaUniversity of PisaUNSPECIFIEDUNSPECIFIED
Schuller, RobertUNSPECIFIEDhttps://orcid.org/0000-0001-6034-5586UNSPECIFIED
Mesesan, George-AdrianUNSPECIFIEDhttps://orcid.org/0000-0001-5110-2988UNSPECIFIED
Bicchi, AntonioUNSPECIFIEDhttps://orcid.org/0000-0001-8635-5571UNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Lee, JinohUNSPECIFIEDhttps://orcid.org/0000-0002-4901-7095UNSPECIFIED
Date:19 July 2023
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. 5624-5631
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Humanoids, Whole-body 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:05 Jul 2023 10:26
Last Modified:28 Jul 2023 09:34

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