Task-based whole-body control of humanoid robots with ZMP regulation, real-time application to a squat-like motion

David Galdeano 1, * Ahmed Chemori 2 Sébastien Krut 2 Philippe Fraisse 1, 3
* Corresponding author
1 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
2 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
3 CAMIN - Control of Artificial Movement and Intuitive Neuroprosthesis
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier, CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : In this paper, a task based whole-body control strategy is proposed for humanoid robots. Its basic idea lies in the control of (i) the CoM with a ZMP regulation, (ii) the relative pose of robot's feet and (iii) joint's limit avoidance. Through the proposed study, it is shown that these tasks allow to produce smooth whole-body motions. Real-time experimentation results are presented to show the effectiveness of the proposed control scheme.
Document type :
Conference papers
Complete list of metadatas

Cited literature [20 references]  Display  Hide  Download

https://hal-lirmm.ccsd.cnrs.fr/lirmm-00945690
Contributor : David Galdeano <>
Submitted on : Wednesday, February 12, 2014 - 5:02:01 PM
Last modification on : Wednesday, May 22, 2019 - 6:01:17 PM
Long-term archiving on : Tuesday, May 13, 2014 - 1:50:10 AM

File

SSD_SAC2014.pdf
Files produced by the author(s)

Identifiers

Collections

Citation

David Galdeano, Ahmed Chemori, Sébastien Krut, Philippe Fraisse. Task-based whole-body control of humanoid robots with ZMP regulation, real-time application to a squat-like motion. SSD: Systems, Signals and Devices, Feb 2014, Castelldefels-Barcelona, Spain. ⟨10.1109/SSD.2014.6808778⟩. ⟨lirmm-00945690⟩

Share

Metrics

Record views

804

Files downloads

930