Compliant locomotion using whole-body control and Divergent Component of Motion tracking

Hopkins, Michael A.; Hong, Dennis; Leonessa, Alexander

doi:10.1109/icra.2015.7140001

Cited by 62 publications

(62 citation statements)

References 23 publications

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“…The evolution of robots recently shows a tendency to go towards soft robots [2] leaving the position control paradigms [3][4] [5] in favor of torque [6] [7] or even impedance control [8]. Even though 7 teams out of 23 where able to complete most of the DARPA Challenge tasks, humanoid robots are not yet effective in real emergency response scenarios.…”

Section: Introductionmentioning

confidence: 99%

WALK-MAN humanoid lower body design optimization for enhanced physical performance

Negrello

Garabini

Catalano

et al. 2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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The deployment of robots to assist in environments hostile for humans during emergency scenarios require robots to demonstrate enhanced physical performance, that includes adequate power, adaptability and robustness to physical interactions and efficient operation. This work presents the design and development of the lower body of the new high performance humanoid WALK-MAN, a robot developed recently to assist in disaster response scenarios. The paper introduces the details of the WALK-MAN lower-body, highlighting the innovative design optimization features considered to maximize the leg performance. Starting from the general lower body specifications the objectives of the design and how they were addressed are introduced, including the selection of the leg kinematics, the arrangement of the actuators and their integration with the leg structure to maximize the range of motion, reduce the leg mass and inertia, and shape the leg mass distribution for better dynamic performance. Physical robustness is ensured with the integration of elastic transmission and impact energy absorbing covers. Experimental walking trials demonstrate the correct operation of the legs while executing a walking gait

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Section: Introductionmentioning

confidence: 99%

WALK-MAN humanoid lower body design optimization for enhanced physical performance

Negrello

Garabini

Catalano

et al. 2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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“…In this case, all six steps were considered by the optimization, resulting in inward adjustment, as expected, to reduce lateral sway. When implementing the MPC scheme in the motion framework, the desired momentum rate of change objective is achieved using a model-based whole-body controller presented in [14]. For real time implementation, vξ is discretized at ∆t = 0.05s, yielding an average solution time of 0.0721s when considering m=2 steps that have a 1.5s step duration.…”

Section: Simulation Resultsmentioning

confidence: 99%

“…The CP was then extended to its 3D equivalent, the divergent component of motion (DCM) [10] and time-varying DCM [11], enabling planning and tracking in three-dimensions. Feedback control of only the unstable component of the CoM dynamics has been shown to be an effective method for stabilizing walking motions [10][11][12][13][14][15]. To recover from large disturbances, humans often adjust their footsteps to increase their base of support.…”

Section: Introductionmentioning

confidence: 99%

Model predictive control for dynamic footstep adjustment using the divergent component of motion

Griffin

Leonessa

2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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This paper presents an extension of previous model predictive control (MPC) schemes to the stabilization of the time-varying divergent component of motion (DCM). To address the control authority limitations caused by fixed footholds, the step positions and rotations are treated as control inputs, allowing the generation and execution of stable walking motions, both at high speeds and in the face of disturbances. Rotation approximations are handled by applying a mixedinteger program, which, when combined with the use of the time-varying DCM to account for the effects of height changes, improve the versatility of MPC. Simulation results of fast walking and step recovery with the ESCHER humanoid demonstrate the effectiveness of this approach.

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“…In [8] this idea is extended in order to generate an online dynamic walking pattern for a biped robot by manipulating the virtual repellent point. The work in [7] and [10] use the DCM of a model with variable natural frequency in order to regulate the robot linear and angular momentum for stable standing and walking under external disturbances. Furthermore, the work by [11] is inspired on the optimal regulator in order to design a CoM/CoP controller inspired by the DCM.…”

Section: Introductionmentioning

confidence: 99%

Robot-human balance state transfer during full-body humanoid teleoperation using Divergent Component of Motion dynamics

Ramos

Wang

Kim

2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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This paper presents the ongoing work towards enabling humanoid robots to achieve dynamic behaviors comparable to humans. By using the concept of Divergent Component of Motion (DCM) first in introduced in [1], the present paper permits operator and robot balance synchronization using the mutual dynamics of the Center of Mass (CoM) and Center of Pressure (CoP). The Linear Inverted Pendulum Model (LIPM) with a reaction mass [2] is utilized to capture the humanoid behavior which interacts with the human operator under the Equilibrium Point (EP) [3] control assumption. Remarkable similarities between the physical system behavior and simulated results suggest the feasibility of the strategy. Experiments conducted with the MIT HERMES humanoid robot further show the performance of the proposed method.

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Compliant locomotion using whole-body control and Divergent Component of Motion tracking

Cited by 62 publications

References 23 publications

WALK-MAN humanoid lower body design optimization for enhanced physical performance

WALK-MAN humanoid lower body design optimization for enhanced physical performance

Model predictive control for dynamic footstep adjustment using the divergent component of motion

Robot-human balance state transfer during full-body humanoid teleoperation using Divergent Component of Motion dynamics

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