Task-based whole-body control of humanoid robots with ZMP regulation, real-time application to a squat-like motion - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2014

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

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.

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lirmm-00945690 , version 1 (12-02-2014)

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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⟩
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