Paper Info
Title
Contact wrench space stability estimation for humanoid robots
Abstract
To execute ladder climbing motions effectively, a humanoid robot requires a reliable estimate of stability. Traditional methods such as Zero Moment Point are not applicable to vertical climbing, and do not account for force limits imposed on end effectors. This paper implements a simple contact wrench space method using a linear combination of contact wrenches. Experiments in simulation showed ZMP equivalence on flat ground. Furthermore, the estimator was able to predict stability with four point contact on a vertical ladder. Finally, an extension of the presented method is proposed based on these findings to address the limitations of the linear combination.
Year
DOI
Venue
2014
10.1109/TePRA.2014.6869153
Technologies for Practical Robot Applications
Keywords
DocType
ISSN
end effectors,estimation theory,humanoid robots,mobile robots,motion control,zmp equivalence,contact wrench space method,contact wrench space stability estimation,end effector,flat ground,ladder climbing motion,linear combination,point contact,reliable estimate,vertical climbing,vertical ladder,zero moment point,foot,friction,force,stability analysis,solid modeling
Conference
2325-0526
Citations 
PageRank 
References 
3
0.41
7
Authors
2
Name
Order
Citations
PageRank
Robert Ellenberg130.41
Paul Y. Oh228951.08