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TROB
2010

Compliant Control of Multicontact and Center-of-Mass Behaviors in Humanoid Robots

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Compliant Control of Multicontact and Center-of-Mass Behaviors in Humanoid Robots
Abstract—This paper presents a new methodology for the analysis and control of internal forces and center-of-mass (CoM) behavior, which are produced during multicontact interactions between humanoid robots and the environment. The approach leverages the virtual-linkage model that provides a physical representation of the internal and CoM resultant forces with respect to reaction forces on the supporting surfaces. A grasp/contact matrix describing the complex interactions between contact forces and CoM behavior is developed. Based on this model, a new torque-based approach for the control of internal forces is suggested and illustrated on the Asimo humanoid robot. The new controller is integrated into the framework for whole-body-prioritized multitasking, thus enabling the unified control of CoM maneuvers, operational tasks, and internal-force behavior. The grasp/contact matrix is also proposed to analyze and plan internal force and CoM control policies that comply with frictional pr...
Luis Sentis, Jaeheung Park, Oussama Khatib
Added 31 Jan 2011
Updated 31 Jan 2011
Type Journal
Year 2010
Where TROB
Authors Luis Sentis, Jaeheung Park, Oussama Khatib
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