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.
https://hal-lirmm.ccsd.cnrs.fr/lirmm-01256512
Contributor : Hervé Audren
<>
Submitted on : Wednesday, October 12, 2016 - 10:48:31 AM
Last modification on : Tuesday, February 12, 2019 - 12:28:03 PM
Long-term archiving on : Saturday, February 4, 2017 - 7:42:29 PM
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. ⟨lirmm-01256512v2⟩
