Name
Abstract | ||
|---|---|---|
In this work we present a novel method to address the balancing problem for torque controlled legged robots through post-optimization of contact forces. The main concept consists in treating a legged robot as a fully actuated fixed-base system in order to compute the desired joint torques according to a fixed-based torque controller. The under-actuated component of the obtained torques is then mapped into contact forces through an optimal distribution problem. Besides extending previous work to the floating-base case, the proposed method has the notable advantage of avoiding the specification of a desired momentum of rotation, in addition to a reduced number of decision variables compared to full-inverse dynamics methods. The effectiveness of our approach has been validated in simulation using two different humanoid platforms: the CEN-TAURO and the COMAN+ robots, both recently developed at Istituto Italiano di Tecnologia (IIT). Preliminary experimental results on COMAN+ are also presented. |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1109/HUMANOIDS.2018.8625013 | 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) |
Keywords | Field | DocType |
CEN-TAURO,Istituto Italiano di Tecnologia,balancing control,COMAN+ robots,full-inverse dynamics methods,optimal distribution problem,under-actuated component,fixed-based torque controller,fixed-base system,legged robot,contact forces,post-optimization | Decision variables,Torque,Computer science,Control theory,Legged robot,Contact force,Momentum,Robot,Torque controller | Conference |
ISSN | ISBN | Citations |
2164-0572 | 978-1-5386-7284-6 | 0 |
PageRank | References | Authors |
0.34 | 18 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Arturo Laurenzi | 1 | 24 | 9.04 |
| Enrico Mingo Hoffman | 2 | 54 | 13.32 |
| Matteo Parigi Polverini | 3 | 15 | 5.11 |
| NG Tsagarakis | 4 | 1492 | 159.09 |