Skip to Main content Skip to Navigation
Poster communications

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
CRISAM - Inria Sophia Antipolis - Méditerranée , LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
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.
Complete list of metadatas

https://hal-lirmm.ccsd.cnrs.fr/lirmm-00993302
Contributor : David Galdeano <>
Submitted on : Tuesday, September 10, 2019 - 11:00:02 PM
Last modification on : Friday, January 17, 2020 - 9:22:02 AM
Document(s) archivé(s) le : Saturday, February 8, 2020 - 12:01:19 AM

File

HLR_2014_v2.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : lirmm-00993302, version 1

Collections

Citation

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. French-German-Japanese Conference on Humanoid and Legged Robots, 2014. ⟨lirmm-00993302⟩

Share

Metrics

Record views

730

Files downloads

22