Stability polygons reshaping and morphing for smooth multi-contact transitions and force control of humanoid robots - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier
Communication Dans Un Congrès Année : 2016

Stability polygons reshaping and morphing for smooth multi-contact transitions and force control of humanoid robots

Hervé Audren
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Pierre Gergondet

Résumé

In this paper we provide hindsight on how to use the information provided by the explicit computation of the stability polygon and build on task-based QP controllers to achieve both stable multi-contact slow transitions and force limitation with a level of force control. This entails computing stability polygons with unilateral and bilateral contacts and devising a method to continuously constrain the CoM position throughout multi-contact motion in order to effectively regulate the forces applied on the environment while avoiding hard constraints on the CoM and discontinuity between stances.
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Dates et versions

lirmm-01256512 , version 1 (15-01-2016)
lirmm-01256512 , version 2 (12-10-2016)

Identifiants

Citer

Hervé Audren, Abderrahmane Kheddar, Pierre Gergondet. Stability polygons reshaping and morphing for smooth multi-contact transitions and force control of humanoid robots. Humanoids 2016 - 16th IEEE-RAS International Conference on Humanoid Robots, Nov 2016, Cancun, Mexico. pp.1037-1044, ⟨10.1109/HUMANOIDS.2016.7803399⟩. ⟨lirmm-01256512v2⟩
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