Balance control using both ZMP and COM height variations: A convex boundedness approach

Stéphane Caron 1, * Bastien Mallein 2
* Corresponding author
1 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : Developments for 3D control of the center of mass (CoM) of biped robots are currently located in two local minima: on the one hand, methods that allow CoM height variations but only work in the 2D sagittal plane; on the other hand, nonconvex direct transcriptions of centroidal dynamics that are delicate to handle. This paper presents an alternative that controls the CoM in 3D via an indirect transcription that is both low-dimensional and solvable fast enough for real-time control. The key to this development is the notion of boundedness condition, which quantifies the capturability of 3D CoM trajectories.
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Submitted on : Monday, February 26, 2018 - 12:00:43 PM
Last modification on : Thursday, February 7, 2019 - 5:47:44 PM

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  • HAL Id : hal-01590509, version 4
  • ARXIV : 1709.06456

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Stéphane Caron, Bastien Mallein. Balance control using both ZMP and COM height variations: A convex boundedness approach. IEEE International Conference on Robotics and Automation, May 2018, Brisbane, Australia. ⟨hal-01590509v4⟩

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