Name
Abstract | ||
|---|---|---|
Balancing strategies for humanoid robots often include the center-of-pressure control (“ankle” strategies), change of body's angular momentum (e.g., “hip” strategies), and taking a step. In this letter, we propose using vertical center-of-mass motion as an additional input for balance control. First, we specify analytic, theoretical capture regions under unilateral contact and height constraints only. Second, we add a vertical acceleration constraint and come to a simple control law for implementation. Third, we implement the control law in our momentum-based whole-body control framework. We test push recovery while standing on the NASA's Valkyrie humanoid robot and compare with a constant height controller, and we show that recovery can be improved using vertical motion. Furthermore, we discuss the differences that can be observed after the application of a simple model on a robot. |
Year | DOI | Venue |
|---|---|---|
2019 | 10.1109/LRA.2019.2925303 | IEEE Robotics and Automation Letters |
Keywords | Field | DocType |
Trajectory,Lips,Legged locomotion,Humanoid robots,Force,Two dimensional displays | Angular momentum,Control theory,Control theory,Unilateral contact,Momentum,Acceleration,Engineering,Robot,Trajectory,Humanoid robot | Journal |
Volume | Issue | ISSN |
4 | 4 | 2377-3766 |
Citations | PageRank | References |
0 | 0.34 | 0 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Boris Jacob van Hofslot | 1 | 0 | 0.34 |
| robert j griffin | 2 | 12 | 6.30 |
| Sylvain Bertrand | 3 | 62 | 9.74 |
| Jerry E. Pratt | 4 | 888 | 89.98 |