Name
Abstract | ||
|---|---|---|
Our work builds largely on Nagasaka's stabilizer in multi-contact motion [1]. Using a sequence of contact stances from an offline multi-contact planner, we use first a Model Predictive Controller to generate a dynamic trajectory of the center of mass, then a whole-body closed-loop model-based controller to track it at best. Relatively to Nagasaka's work, we allow frame changes of the preferred force, provide a heuristic to compute the timing of the transition from purely geometrical features and investigate the synchronization problem between the reduced-model preview control and the whole-body controller. Using our framework, we generate a wide range of 3D motions, while accounting for predictable external forces, which includes transporting objects. Simulation scenarios are presented and obtained results are analyzed and discussed. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/IROS.2014.6943129 | Intelligent Robots and Systems |
Keywords | Field | DocType |
closed loop systems,humanoid robots,motion control,path planning,predictive control,trajectory control,3D motion,Nagasaka stabilizer,closed-loop model-based controller,dynamic trajectory,geometrical feature,humanoid robot,model predictive controller,multicontact motion-application,multicontact planner,reduced-model preview control,synchronization problem,whole-body controller | Control theory,Heuristic,Synchronization,Computer science,Control theory,Control engineering,Contact motion,Center of mass,Trajectory,Humanoid robot | Conference |
ISSN | Citations | PageRank |
2153-0858 | 22 | 0.87 |
References | Authors | |
13 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Audren, H. | 1 | 22 | 0.87 |
| Vaillant, J. | 2 | 22 | 0.87 |
| Kheddar, A. | 3 | 32 | 4.14 |
| Adrien Escande | 4 | 273 | 22.91 |