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

Hervé Audren 1 Abderrahmane Kheddar 1, 2
2 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
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.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-01256512
Contributor : Hervé Audren <>
Submitted on : Friday, January 15, 2016 - 3:34:53 AM
Last modification on : Tuesday, June 18, 2019 - 12:06:37 PM
Long-term archiving on : Friday, November 11, 2016 - 6:43:03 AM

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  • HAL Id : lirmm-01256512, version 1

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

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