Multi-contact transitions and force control of humanoid robots by stability polygons reshaping and morphing - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Preprints, Working Papers, ... Year : 2015

Multi-contact transitions and force control of humanoid robots by stability polygons reshaping and morphing

Abstract

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.
Fichier principal
Vignette du fichier
ra_letters.pdf (780.5 Ko) Télécharger le fichier
Origin : Files produced by the author(s)

Dates and versions

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

Identifiers

  • HAL Id : lirmm-01256512 , version 1

Cite

Hervé Audren, Abderrahmane Kheddar. Multi-contact transitions and force control of humanoid robots by stability polygons reshaping and morphing. 2015. ⟨lirmm-01256512v1⟩
340 View
796 Download

Share

Gmail Facebook X LinkedIn More