Name
Abstract | ||
|---|---|---|
Parallel mechanisms are becoming increasingly popular as subsystems in various robots due to their superior stiffness, payload-to-weight ratio, and dynamic properties. The serial connection of parallel subsystems leads to series-parallel hybrid robots, which are more difficult to model and control than serial or tree-type systems. At the same time, Whole-Body Control (WBC) has become the method of choice in the control of robots with redundant degrees of freedom, e.g., legged robots. However, most state-of-the-art WBC frameworks can only deal with serial or tree-type robot topologies. In this paper, we describe a computationally efficient framework for Whole-Body Control of series-parallel hybrid robots subjected to a large number of holonomic constraints. In contrast to existing WBC frameworks, our approach describes the optimization problem in the actuation space of a series-parallel robot, which provides better exploitation of the feasible workspace, higher accuracy, and more transparent behavior near singularities. We evaluate the proposed framework on two different humanoids with series-parallel architecture and compare its performance to a WBC approach for tree-type robots. |
Year | DOI | Venue |
|---|---|---|
2022 | 10.1109/ICRA46639.2022.9811616 | 2022 International Conference on Robotics and Automation (ICRA) |
DocType | ISBN | Citations |
Conference | 978-1-7281-9682-4 | 0 |
PageRank | References | Authors |
0.34 | 12 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Dennis Mronga | 1 | 13 | 2.91 |
| Shivesh Kumar | 2 | 0 | 0.34 |
| Frank Kirchner | 3 | 115 | 19.41 |