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 Access content directly
Conference Papers Year : 2016

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

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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Dates and versions

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

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