Stability polygons reshaping and morphing for smooth multi-contact transitions and force control of humanoid robotsReport as inadecuate




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1 CNRS-AIST JRL - Joint Robotics Laboratory Japan 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.

Keywords : Multi-contact Stability Optimization Humanoid Robots





Author: Hervé Audren - Abderrahmane Kheddar - Pierre Gergondet -

Source: https://hal.archives-ouvertes.fr/



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