Human based hybrid kinematic/dynamic whole-body control in humanoid robotics - Archive ouverte HAL Access content directly
Conference Poster Year : 2014

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

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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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Dates and versions

lirmm-00993302 , version 1 (10-09-2019)

Identifiers

  • HAL Id : lirmm-00993302 , version 1

Cite

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⟩
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