Whole body motion controller with long-term balance constraints - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2014

Whole body motion controller with long-term balance constraints

Résumé

The standard approach to real-time control of humanoid robots relies on approximate models to produce a motion plan, which is then used to control the whole body. Separation of the planning stage from the controller makes it difficult to account for the whole body motion objectives and constraints in the plan. For this reason, we propose to omit the planning stage and introduce long-term balance constraints in the whole body controller to compensate for this omission. The new controller allows for generation of whole body walking motions, which are automatically decided based on both the whole body motion objectives and balance preservation constraints. The validity of the proposed approach is demonstrated in simulation in a case where the walking motion is driven by a desired wrist position. This approach is general enough to allow handling seamlessly various whole body motion objectives, such as desired head motions, obstacle avoidance for all parts of the robot, etc.
Fichier principal
Vignette du fichier
humanoids14.pdf (441.15 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-01418363 , version 1 (16-12-2016)

Identifiants

Citer

Alexander Sherikov, Dimitar Dimitrov, Pierre-Brice Wieber. Whole body motion controller with long-term balance constraints. IEEE-RAS International Conference on Humanoid Robots (Humanoids), Nov 2014, Madrid, Spain. pp.444-450, ⟨10.1109/HUMANOIDS.2014.7041399⟩. ⟨hal-01418363⟩
265 Consultations
416 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More