Communication Dans Un Congrès Année : 2021

Control of Humanoid in Multiple Fixed and Moving Unilateral Contacts

Résumé

Enforcing balance of multi-limbed robots in multiple non-coplanar unilateral contact settings is challenging when a subset of such contacts are also induced in motion tasks. The first contribution of this paper is in enhancing the computational performance of state-of-the-art geometric center-of-mass inclusion-based balance method to be integrated online as part of a task-space whole-body control framework. As a consequence, our second contribution lies in integrating such a balance region with relevant contact force distribution without pre-computing a target center-of-mass. This last feature is essential to leave the latter with freedom to better comply with other existing tasks that are not captured in classical two-level approaches. We assess the performance of our proposed method through experiments using the HRP-4 humanoid robot.

Fichier principal
Vignette du fichier
root.pdf (6.25 Mo) Télécharger le fichier
Origine Fichiers produits par l'(les) auteur(s)
Licence

Dates et versions

hal-03390633 , version 1 (21-10-2021)

Licence

Identifiants

Citer

Julien Roux, Saeid Samadi, Eisoku Kuroiwa, Takahide Yoshiike, Abderrahmane Kheddar. Control of Humanoid in Multiple Fixed and Moving Unilateral Contacts. ICAR 2021 - 20th International Conference on Advanced Robotics, Dec 2021, Ljubljana, Slovenia. pp.793-799, ⟨10.1109/ICAR53236.2021.9659359⟩. ⟨hal-03390633⟩
143 Consultations
243 Téléchargements

Altmetric

Partager

  • More