Name
Title | ||
|---|---|---|
Sparse Optimization Of Contact Forces For Balancing Control Of Multi-Legged Humanoids |
Abstract | ||
|---|---|---|
Multi-legged humanoid platforms present an inherent redundancy in the number of end-effectors required to perform interaction tasks, such as balancing and manipulation. The most relevant possibility opened up by end-effector redundancy consists in using a subset of the available end-effectors to perform a primary task, while employing the remaining end-effectors to perform a secondary tasks. As a consequence, it necessarily requires a methodology to automatically find the smallest set of end-effectors required to perform a primary task. For the balancing control of a torque-controlled humanoid, this is equivalent to finding a sparse solution of a contact force distribution problem. To this end, two different sparse optimization approaches are presented and extensively discussed in this work. The effectiveness of the proposed approaches has been validated on a simulated model of the CENTAURO robot developed at the Istituto Italiano di Tecnologia. |
Year | DOI | Venue |
|---|---|---|
2019 | 10.1109/LRA.2019.2894379 | IEEE ROBOTICS AND AUTOMATION LETTERS |
Keywords | Field | DocType |
Optimization and optimal control, humanoid robots, force control | Task analysis,Contact force,Control engineering,Robot end effector,Redundancy (engineering),Engineering,Robot,Humanoid robot | Journal |
Volume | Issue | ISSN |
4 | 2 | 2377-3766 |
Citations | PageRank | References |
0 | 0.34 | 0 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Matteo Parigi Polverini | 1 | 15 | 5.11 |
| Enrico Mingo Hoffman | 2 | 54 | 13.32 |
| Arturo Laurenzi | 3 | 24 | 9.04 |
| NG Tsagarakis | 4 | 1492 | 159.09 |