• DocumentCode
    135774
  • Title

    Task-based whole-body control of humanoid robots with ZMP regulation, real-time application to a squat-like motion

  • Author

    Galdeano, David ; Chemori, Ahmed ; Krut, Sebastien ; Fraisse, P.

  • Author_Institution
    LIRMM, Univ. Montpellier 2, Montpellier, France
  • fYear
    2014
  • fDate
    11-14 Feb. 2014
  • Firstpage
    1
  • Lastpage
    6
  • Abstract
    In this paper, a task based whole-body control strategy is proposed for humanoid robots. Its basic idea lies in the control of (i) the CoM with a ZMP regulation, (ii) the relative pose of robot´s feet and (iii) joint´s limit avoidance. Through the proposed study, it is shown that these tasks allow to produce smooth whole-body motions. Real-time experimentation results are presented to show the effectiveness of the proposed control scheme.
  • Keywords
    humanoid robots; legged locomotion; motion control; CoM; ZMP regulation; humanoid robots; joint limit avoidance; relative pose; robot feet; squat-like motion; task-based whole-body control; Electronic mail; Robots;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Multi-Conference on Systems, Signals & Devices (SSD), 2014 11th International
  • Conference_Location
    Barcelona
  • Type

    conf

  • DOI
    10.1109/SSD.2014.6808778
  • Filename
    6808778
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=135774