Constructive feedback linearization of underactuated mechanical systems with 2-DOF

Acosta, José Ángel; Lopez-Martinez, M.

doi:10.1109/cdc.2005.1582939

Cited by 22 publications

(25 citation statements)

References 12 publications

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“…into the null space of J b , and f 0 ∈ R 6nc the wrench redundancy that does not influenceḢ(f * ) =Ḣ * . To determine the control torques that instantaneously realize the contact wrenches given by (11), we substitute the state accelerations from the dynamic equations (1) into the constraints equations (4), which yields:…”

Section: Control With No Friction Exploitationmentioning

confidence: 99%

Exploiting Friction in Torque Controlled Humanoid Robots

Nava

Ferigo

Pucci

2018

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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A common architecture for torque controlled humanoid robots consists in two nested loops. The outer loop generates desired joint/motor torques, and the inner loop stabilizes these desired values. In doing so, the inner loop usually compensates for joint friction phenomena, thus removing their inherent stabilizing property that may be also beneficial for high level control objectives. This paper shows how to exploit friction for joint and task space control of humanoid robots. Experiments are carried out on the humanoid robot iCub.

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Section: Control With No Friction Exploitationmentioning

confidence: 99%

Exploiting Friction in Torque Controlled Humanoid Robots

Nava

Ferigo

Pucci

2018

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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“…De esta manera se comparan los resultados según el esfuerzo del control (ver Figura 12) (Acosta, 2005).…”

Section: Figura 10unclassified

Modelado, simulación e implementación de controladores LQR y RLVE al sistema péndulo invertido rotacional usando la plataforma NI ELVIS II

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Builes

2013

Rev. Guillermo Ockham

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• Fecha de recepción del artículo: 30-11-201230-11- • Fecha de aceptación: 30-01-2013 Resumen En este artículo se presenta un análisis de control en variables de estado, aplicado al sistema no lineal péndulo invertido rotacional (ROTPEN), implementado sobre la plataforma NI ELVIS II, con el objetivo de comparar los resultados de los controladores regulador cuadrático lineal (LQR) y realimentación lineal en variables de estado (RLVE) a fin de garantizar un mejor desempeño de estabilidad en el sistema. La representación ma- temática de los modelos no lineal y linealizado de la planta ROTPEN, se examina mediante el diseño de algoritmos y simulaciones en Simulink-Matlab. De esta manera se sondea el comportamiento del sistema real y del simulado ante perturbaciones y cambios en la entrada con la prioridad de ejercer una baja acción de control como parámetro del sistema que se va a optimizar.

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“…none of the robot links has an a priori constant pose with respect to an inertial reference frame, is particularly well suited for modeling humanoid robots *This paper was supported by the FP7 EU project CoDyCo dynamics. However, the control problem is complicated by system's underactuation, that forbids full state feedback linearization [11]. At the control level, an efficient algorithm for balancing and walking of humanoid robots is the so-called momentumbased control [5], which often exploits prioritized stack-oftasks.…”

Section: Introductionmentioning

confidence: 99%

Modeling and control of humanoid robots in dynamic environments: ICub balancing on a seesaw

Nava

Pucci

Guedelha

et al. 2017

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)

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Forthcoming applications concerning humanoid robots may involve physical interaction between the robot and a dynamic environment. In such scenario, classical balancing and walking controllers that neglect the environment dynamics may not be sufficient for achieving a stable robot behavior. This paper presents a modeling and control framework for balancing humanoid robots in contact with a dynamic environment. We first model the robot and environment dynamics, together with the contact constraints. Then, a control strategy for stabilizing the full system is proposed. Theoretical results are verified in simulation with robot iCub balancing on a seesaw.

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Constructive feedback linearization of underactuated mechanical systems with 2-DOF

Cited by 22 publications

References 12 publications

Exploiting Friction in Torque Controlled Humanoid Robots

Exploiting Friction in Torque Controlled Humanoid Robots

Modelado, simulación e implementación de controladores LQR y RLVE al sistema péndulo invertido rotacional usando la plataforma NI ELVIS II

Modeling and control of humanoid robots in dynamic environments: ICub balancing on a seesaw

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