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Sovukluk, Sait and Englsberger, Johannes and Ott, Christian (2023) Whole Body Control Formulation for Humanoid Robots with Closed/Parallel Kinematic Chains: Kangaroo Case Study. In: 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023, pp. 10390-10396. IEEE. 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023-10-01 - 2023-10-05, Detroit, MI, USA. doi: 10.1109/IROS55552.2023.10341391. ISBN 978-166549190-7. ISSN 2153-0858.
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Official URL: https://ieeexplore.ieee.org/document/10341391
Abstract
This study extends the whole-body control (WBC) formulation for bipedal humanoid robots that include closed (parallel) kinematic chains in their structure. Along with general formulation, we also stress the implementation of this formulation on Kangaroo, which is a highly dynamic humanoid robot developed by PAL Robotics. This 76-DOF robot includes 24 independent closed-kinematic chains in its structure and constitutes a good case study for our approach. We discuss the WBC formulation for various control structures, including inverse dynamics control (IDC) and Modular Passive Tracking Control (MPTC). As a test scenario, we employ a 3D spring-loaded inverted pendulum (SLIP) jumping trajectory with disturbance rejection as the desired CoM trajectory.
| Item URL in elib: | https://elib.dlr.de/202324/ | ||||||||||||||||
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| Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||
| Title: | Whole Body Control Formulation for Humanoid Robots with Closed/Parallel Kinematic Chains: Kangaroo Case Study | ||||||||||||||||
| Authors: |
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| Date: | December 2023 | ||||||||||||||||
| Journal or Publication Title: | 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023 | ||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||
| Open Access: | Yes | ||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||
| In SCOPUS: | Yes | ||||||||||||||||
| In ISI Web of Science: | No | ||||||||||||||||
| DOI: | 10.1109/IROS55552.2023.10341391 | ||||||||||||||||
| Page Range: | pp. 10390-10396 | ||||||||||||||||
| Publisher: | IEEE | ||||||||||||||||
| ISSN: | 2153-0858 | ||||||||||||||||
| ISBN: | 978-166549190-7 | ||||||||||||||||
| Status: | Published | ||||||||||||||||
| Keywords: | running, controls, spring-loaded inverted pendulum, humanoid robot | ||||||||||||||||
| Event Title: | 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) | ||||||||||||||||
| Event Location: | Detroit, MI, USA | ||||||||||||||||
| Event Type: | international Conference | ||||||||||||||||
| Event Start Date: | 1 October 2023 | ||||||||||||||||
| Event End Date: | 5 October 2023 | ||||||||||||||||
| Organizer: | IEEE/RSJ | ||||||||||||||||
| 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) | ||||||||||||||||
| Deposited By: | Strobl, Dr. Klaus H. | ||||||||||||||||
| Deposited On: | 23 Jan 2024 15:18 | ||||||||||||||||
| Last Modified: | 24 Apr 2024 21:02 |
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