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Balance and Posture Control for Biped Robots

Roa, Maximo A. and Ott, Christian (2013) Balance and Posture Control for Biped Robots. In: Multibody System Dynamics, Robotics and Control Springer Vienna. pp. 129-143. ISBN 9783709112885.

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Official URL: http://link.springer.com/book/10.1007/978-3-7091-1289-2


This work presents an overview of a new approach for balance and posture control by regulating simultaneously the center of mass position and trunk orientation of a biped robot. After an unknown external perturbation deviates the robot from a desired posture, the controller computes a wrench (force and torque) required to recover the desired position and orientation, according to a compliance control law. This wrench is distributed to predefined supporting contact points at the feet. The forces at these points are computed via a constrained optimization problem, adopted from the grasping literature, which minimizes the contact forces while including friction restrictions and torque limits at each joint.

Item URL in elib:https://elib.dlr.de/87394/
Document Type:Book Section
Title:Balance and Posture Control for Biped Robots
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Roa, Maximo A.maximo.roa (at) dlr.deUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.deUNSPECIFIED
Journal or Publication Title:Multibody System Dynamics, Robotics and Control
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Page Range:pp. 129-143
Gattringer, HubertUNSPECIFIED
Gerstmayr, JohannesUNSPECIFIED
Publisher:Springer Vienna
Keywords:biped robot, balancing control
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben on Orbit Servicing
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Roa Garzon, Dr. Máximo Alejandro
Deposited On:10 Jan 2014 11:32
Last Modified:10 Jan 2014 11:32

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