Structure preserving Multi-Contact Balance Control for Series-Elastic and Visco-Elastic Humanoid Robots

Conference contribution
(Conference Contribution)


Publication Details

Author(s): Werner A, Henze B, Keppler M, Loeffl F, Leyendecker S, Ott C
Publisher: IEEE
Publishing place: NEW YORK
Publication year: 2018
Conference Proceedings Title: 2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
Pages range: 1233-1240
ISSN: 2153-0858
Language: English


Abstract

This paper proposes an integration of multi-body and actuator control
for multi-contact balancing for robots with highly elastic joints.
Inspired by the structure preserving control concept for series-elastic
fixed-base robots, the presented approach aims to minimize the control
effort by keeping the system structure intact. Balancing on multiple
contacts requires to solve the force distribution problem. In
locomotion, contacts change quickly, requiring a swift redistribution of
contact forces. This is a challenge for elastic robots as the actuator
dynamics and limits prevent instantaneous changes of contact forces. The
proposed dynamically consistent force distribution is implemented as a
model predictive controller which resolves redundancy while complying
with contact force and actuator constraints.


FAU Authors / FAU Editors

Leyendecker, Sigrid Prof. Dr.-Ing.
Chair of Applied Dynamics


External institutions with authors

Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR)


How to cite

APA:
Werner, A., Henze, B., Keppler, M., Loeffl, F., Leyendecker, S., & Ott, C. (2018). Structure preserving Multi-Contact Balance Control for Series-Elastic and Visco-Elastic Humanoid Robots. In 2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) (pp. 1233-1240). Madrid, ES: NEW YORK: IEEE.

MLA:
Werner, Alexander, et al. "Structure preserving Multi-Contact Balance Control for Series-Elastic and Visco-Elastic Humanoid Robots." Proceedings of the 25th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid NEW YORK: IEEE, 2018. 1233-1240.

BibTeX: 

Last updated on 2019-13-05 at 15:58