A torque-controlled humanoid robot riding on a two-wheeled mobile platform

Xin, Songyan; You, Yangwei; Zhou, Chengxu; Fang, Cheng; Tsagarakis, Nikos G.

doi:10.1109/iros.2017.8205945

Cited by 6 publications

(1 citation statement)

References 32 publications

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“…However, this robot did not include upper limb arm usage. In another engaging simulation study, Tsagarakis et al explored the question of whether a humanoid robot can ride a Segway type WIP robot [18]. They applied quadratic optimization to generate humanoid whole-body joint torques [23].…”

Section: A Related Workmentioning

confidence: 99%

Balance Stability Augmentation for Wheel-Legged Biped Robot Through Arm Acceleration Control

2021

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A self-balancing wheel-legged robot provides higher maneuverability and mobility than legged biped robots. For this reason, wheel-legged systems have attracted enormous interest from academia and commercial sectors in recent years. Most of the past works in this field mainly focused on lower body stabilization. Motivated by the human ability to maintain balance in laborious activities by articulating the arm actively, we explore and analyze the active arm control on top of the wheel-legged system to assist in its balance recovery during external pushes and disturbances. This paper presents a control framework to improve the stability and robustness of an underactuated self-balancing wheel-legged robot using its upper limb arm. Furthermore, we use the centroidal moment pivot (CMP) as a key metric to quantitatively evaluate the effect of the active arm usage on the balance stability improvement of the robot in the ROS-Gazebo environment. The difference from the case of nonusage of arm is verified to clarify the impact of the active arm quantitatively. This concept would lead to the wheel-legged biped robot with an active arm for dual purposes, one is for carrying objects, another is for increasing the balance stability. This point is important for future application in a real-world environment with human-robot interactions.INDEX TERMS Wheel-legged robots, wheeled inverted pendulum (WIP), underactuated robots, motion control, balance recovery, stability analysis, disturbance rejection.

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Section: A Related Workmentioning

confidence: 99%

Balance Stability Augmentation for Wheel-Legged Biped Robot Through Arm Acceleration Control

2021

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Towards Humanoids Using Personal Transporters: Learning to Ride a Segway from Humans

Rajendran

Lin

Mombaur

2022

2022 9th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)

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New Cross-Step Enabled Configurations for Humanoid Robot

Xin

Zhou

Tsagarakis

2018

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)

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This paper explores two new configurations for humanoid robot balancing and locomotion. Centroidal momentum manipulability analysis has been performed to study the features of the new configurations. Data collected from numerical simulation shows that they outperform the regular ones in terms of angular momentum manipulability. More importantly, the new configurations allow the humanoid robot to perform cross-step motions which is usually risky or mechanically impossible for most existing robots. On the other hand, cross-step also introduces non-convex feasible regions which makes it difficult to be incorporated into the existing step planner. A step region selector is thus proposed to transfer the step planning problem into a convex one by choosing a subconvex region. To validate our ideas, cross-step is performed in simulation with a whole-body robot.

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A torque-controlled humanoid robot riding on a two-wheeled mobile platform

Abstract: This is a repository copy of A torque-controlled humanoid robot riding on a two-wheeled mobile platform.

Cited by 6 publications

References 32 publications

Balance Stability Augmentation for Wheel-Legged Biped Robot Through Arm Acceleration Control

Balance Stability Augmentation for Wheel-Legged Biped Robot Through Arm Acceleration Control

Towards Humanoids Using Personal Transporters: Learning to Ride a Segway from Humans

New Cross-Step Enabled Configurations for Humanoid Robot

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