Human based hybrid kinematic/dynamic whole-body control in humanoid robotics

David Galdeano 1 Ahmed Chemori 2 Sébastien Krut 2 Philippe Fraisse 1, 3
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 with non-linear stabilizeris proposed for humanoid robots. Its basic idea lies in the control of (i) the CoM, (ii) the relative pose of robot's feet and (iii) joint's limit avoidance. A non-linear ZMP-based regulation is added in the CoM control space to improve the stability. 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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Conference papers
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00993302
Contributor : David Galdeano <>
Submitted on : Tuesday, May 20, 2014 - 9:47:07 AM
Last modification on : Friday, March 8, 2019 - 1:17:46 AM

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  • HAL Id : lirmm-00993302, version 1

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David Galdeano, Ahmed Chemori, Sébastien Krut, Philippe Fraisse. Human based hybrid kinematic/dynamic whole-body control in humanoid robotics. HLR: Humanoid and Legged Robots, May 2014, Heidelberg, Germany. ⟨lirmm-00993302⟩

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