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 Task-based whole-body control of humanoid robots with ZMP regulation, real-time application to a squat-like motion David Galdeano a371733338416ffac9f703a15750d6d3 lirmm.fr 927741 648412-927741 Ahmed Chemori 74b6f68c6a48612ba485722fe4b1fb72 lirmm.fr ahmed-chemori 20304 40690-20304 https://orcid.org/0000-0001-9739-9473 https://scholar.google.fr/citations?user=EQP56YEAAAAJ&hl=en https://www.idref.fr/099234815 http://isni.org/isni/0000000356712122 https://viaf.org/viaf/188561408 Sébastien Krut 31b5ef2ef71de8f717880af2519114cf lirmm.fr krut 3383 17628-3383 https://orcid.org/0000-0003-2396-8244 https://www.idref.fr/079213324 Philippe Fraisse 452b4e9a1bc5f8359b960e3c46d5f5e9 lirmm.fr philippe-fraisse 173014 13595-173014 https://orcid.org/0000-0003-0911-0743 https://www.idref.fr/050516590 David Galdeano fbeb089a1ab9fed87da8c7303d5fb4dd gmail.com 2014-02-12 17:02:01 2013-10-15 2025-10-27 11:02:08 2014-02-13 13:42:22 2014-02-11 2014-02-12 contributor David Galdeano fbeb089a1ab9fed87da8c7303d5fb4dd gmail.com CCSD lirmm-00945690 https://hal-lirmm.ccsd.cnrs.fr/lirmm-00945690 galdeano:lirmm-00945690 <i>SSD: Systems, Signals and Devices</i>, Feb 2014, Castelldefels-Barcelona, Spain. <a target="_blank" href="https://dx.doi.org/10.1109/SSD.2014.6808778">&#x27E8;10.1109/SSD.2014.6808778&#x27E9;</a> SSD: Systems, Signals and Devices, Feb 2014, Castelldefels-Barcelona, Spain. &#x27E8;10.1109/SSD.2014.6808778&#x27E9; HAL Authorization CNRS - Centre national de la recherche scientifique INRIA - Institut National de Recherche en Informatique et en Automatique INRIA Sophia Antipolis - Méditerranée INRIA-SOPHIA INRIA - Institut National de Recherche en Informatique et en Automatique TESTALAIN1 Conception et commande de robots pour la manipulation Interactive Digital Humans Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier INRIA 2 Control of Artificial Movement & Intuitive Neuroprosthesis Réseau de recherche en Théorie des Systèmes Distribués, Modélisation, Analyse et Contrôle des Systèmes Mathématiques, Informatique, Physique et Systèmes Université de Montpellier Université Côte d'Azur Ahmed Chemori Test DEXTER ANR Université de Montpellier (2015-2021) International No No Yes Yes Task-based whole-body control of humanoid robots with ZMP regulation, real-time application to a squat-like motion David Galdeano a371733338416ffac9f703a15750d6d3 lirmm.fr 927741 648412-927741 Ahmed Chemori 74b6f68c6a48612ba485722fe4b1fb72 lirmm.fr ahmed-chemori 20304 40690-20304 https://orcid.org/0000-0001-9739-9473 https://scholar.google.fr/citations?user=EQP56YEAAAAJ&hl=en https://www.idref.fr/099234815 http://isni.org/isni/0000000356712122 https://viaf.org/viaf/188561408 Sébastien Krut 31b5ef2ef71de8f717880af2519114cf lirmm.fr krut 3383 17628-3383 https://orcid.org/0000-0003-2396-8244 https://www.idref.fr/079213324 Philippe Fraisse 452b4e9a1bc5f8359b960e3c46d5f5e9 lirmm.fr philippe-fraisse 173014 13595-173014 https://orcid.org/0000-0003-0911-0743 https://www.idref.fr/050516590 11th IEEE International Multi-Conference on Systems, Signals and Devices SSD: Systems, Signals and Devices 2014-02-11 2014-02-14 Castelldefels-Barcelona Spain IEEE SAC: Systems, Analysis and Automatic Control 2014-02-12 10.1109/SSD.2014.6808778 http://www.ssd-conf.org/ssd14/index.php?site=index&conf=SAC English Motion control Humanoid robotics Engineering Sciences [physics]/Automatic Conference papers Conference papers Conference papers

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.

 Interactive Digital Humans IDH 2021-12-31
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https://www.lirmm.fr/equipes/DEXTER/ 201622042U Control of Artificial Movement and Intuitive Neuroprosthesis CAMIN 2016-01-01 2019-02-28
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