DocumentCode :
2616162
Title :
Posture and balance control for biped robots based on contact force optimization
Author :
Ott, Christian ; Roa, Maximo A. ; Hirzinger, Gerd
Author_Institution :
Inst. of Robot. & Mechatron., German Aerosp. Center (DLR), Wessling, Germany
fYear :
2011
fDate :
26-28 Oct. 2011
Firstpage :
26
Lastpage :
33
Abstract :
This paper presents a new balancing control approach for regulating the center of mass position and trunk orientation of a bipedal robot in a compliant way. The controller computes a desired wrench (force and torque) required to recover the posture when an unknown external perturbation has changed the posture of the robot. This wrench is later distributed as forces at predefined contact points via a constrained optimization, which aims at achieving the desired wrench while minimizing the Euclidean norm of the contact forces. The formulation of the force distribution as an optimization problem adopted from the grasping literature and allows to consider restrictions coming from the friction between the contact points and the ground.
Keywords :
legged locomotion; optimisation; position control; balance control; biped robots; contact force optimization; posture control; unknown external perturbation; Force; Joints; Legged locomotion; Robot kinematics; Robot sensing systems; Torque;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Humanoid Robots (Humanoids), 2011 11th IEEE-RAS International Conference on
Conference_Location :
Bled
ISSN :
2164-0572
Print_ISBN :
978-1-61284-866-2
Electronic_ISBN :
2164-0572
Type :
conf
DOI :
10.1109/Humanoids.2011.6100882
Filename :
6100882
Link To Document :
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