Paper Info
Title
Dynamic Walking on Compliant and Uneven Terrain using DCM and Passivity-based Whole-body Control
Abstract
This paper presents a complete trajectory generation and control approach for achieving a robust dynamic walking gait for humanoid robots over compliant and uneven terrain. The work uses the concept of Divergent Component of Motion (DCM) for generating the center of mass (CoM) trajectory, and Cartesian polynomial trajectories for the feet. These reference trajectories are tracked by a passivity-based whole-body controller, which computes the joint torques for commanding our torque-controlled humanoid robot TORO. We provide the implementation details regarding the trajectory generation and control that help preventing discontinuities in the commanded joint torques, which facilitates precise trajectory tracking and robust locomotion. We present extensive experimental results of TORO walking over rough terrain, grass, and, to the best of our knowledge, the first report of a humanoid robot walking over a soft gym mattress.
Year
DOI
Venue
2019
10.1109/Humanoids43949.2019.9035053
2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids)
Keywords
DocType
ISSN
DCM,passivity-based whole-body control,complete trajectory generation,control approach,robust dynamic walking gait,mass trajectory,Cartesian polynomial trajectories,reference trajectories,passivity-based whole-body controller,torque-controlled humanoid robot TORO,commanded joint torques,trajectory tracking
Conference
2164-0572
ISBN
Citations 
PageRank 
978-1-5386-7631-8
0
0.34
References 
Authors
0
5
Name
Order
Citations
PageRank
George Mesesan112.38
Johannes Englsberger217713.57
Gianluca Garofalo3447.11
Christian Ott41527128.37
Alin Albu-Schaffer52831262.17