Structure preserving Multi-Contact Balance Control for Series-Elastic and Visco-Elastic Humanoid Robots
Werner A, Henze B, Keppler M, Loeffl F, Leyendecker S, Ott C (2018)
Publication Language: English
Publication Type: Conference contribution, Conference Contribution
Publication year: 2018
Pages Range: 1233-1240
Conference Proceedings Title: 2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
Event location: Madrid
DOI: 10.1109/IROS.2018.8593596
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.
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Involved external institutions
Germany (DE)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.
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 2018. 1233-1240.
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