Whole-Body Control for Multi-Contact Balancing of Humanoid Robots

Henze, Bernd

doi:10.1007/978-3-030-87212-0

Cited by 3 publications

(2 citation statements)

References 78 publications

(250 reference statements)

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“…The author contributed to the derivation of the electrical network representation of the humanoid robot and its interactions with deformable grounds and the application of TDPA to stabilize these interactions. The work was published in [HBRG + 18] and also in the thesis [Hen20].…”

Section: Whole-body Control Of Humanoid Robotmentioning

confidence: 99%

A Stable and Transparent Framework for Adaptive Shared Control of Robots

Balachandran

2024

Springer Tracts in Advanced Robotics

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Section: Whole-body Control Of Humanoid Robotmentioning

confidence: 99%

A Stable and Transparent Framework for Adaptive Shared Control of Robots

Balachandran

2024

Springer Tracts in Advanced Robotics

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“…To date, many famous cases have been developed, and some typical examples like the 2015-DRC [4] series robots, for example, DRC-HUBO + of Team KAIST (the champion) [5,6], Atlas of Team IHMC (second place) [7], HRP-2 [8]. Some other state-of-the-art robots, such as Agility Robotics's Cassie [9] and Digit [10], NASA's Valkyrie [11,12] and DLR's TORO [13], are also wellknown as biped robots. Unfortunately, the manipulation skills of these systems are usually relatively immature.…”

Section: Introductionmentioning

confidence: 99%

A versatile humanoid robot platform for dexterous manipulation and human–robot collaboration

Shu

Fan

et al. 2023

CAAI Trans on Intel Tech

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Humanoid robots have attracted much attention by virtue of their compatibility with human environments. However, biped humanoids with immense promise still cannot function steadily and reliably in real‐world settings in the current state. Hence, rationally combining a humanoid robot with different stable mobile platforms is a favoured solution for diverse scenarios. Here, a new versatile humanoid robot platform, aiming to provide a generic solution that can be flexibly deployed in diverse scenarios, for example, indoors and fields is presented. Versatile humanoid robot platform incorporates multimodal perception, and extensible interfaces on hardware and software, allowing it to be rapidly integrated with different mobile platforms and end‐effectors, only through easy‐to‐assemble interfaces. Additionally, the platform has achieved impressive integration, lightness, dexterity, and strength in its class, with human‐like size and rich perception, targeted to have human‐intelligent manipulation skills for human‐engineered environments. Overall, this article elaborates on the reasoning behind the design choices, and outlines each subsystem. Lastly, the essential performance of the platform is successfully demonstrated in a set of experiments with precise and dexterous manipulation, and human–robot collaboration requirements.

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Multi-Objective Optimal Torque Control with Simultaneous Motion and Force Tracking for Hydraulic Quadruped Robots

Shi

Zou

et al. 2022

Machines

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Model-based force control for motion and force tracking faces significant challenges on real quadruped platforms due to the apparent model inaccuracies. In this paper, we present a multi-objective optimal torque control for hydraulic quadruped robots under significant model errors, such as non-modelable hydraulic components, linearization, disturbances, etc. More specifically, the centroidal dynamics are first modeled to project the dynamics of the floating-based whole-body behaviors to the centroidal frame. Model error compensation mechanisms are subsequently developed to track the reference motion of the CoM, torso, and foot-end trajectories, which are mapped into the joint space. Furthermore, a multi-objective optimal torque control scheme is formulated using quadratic programming (QP) to coordinate follow the reference motion and ground reaction forces simultaneously while satisfying all constraints. Finally, we present a series of simulations as well as experiments on a real hydraulic quadruped platform, EHbot. The results demonstrate that the proposed torque control scheme is robust to large model inaccuracies and improves the performance of the overall system.

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Whole-Body Control for Multi-Contact Balancing of Humanoid Robots

Cited by 3 publications

References 78 publications

A Stable and Transparent Framework for Adaptive Shared Control of Robots

A Stable and Transparent Framework for Adaptive Shared Control of Robots

A versatile humanoid robot platform for dexterous manipulation and human–robot collaboration

Multi-Objective Optimal Torque Control with Simultaneous Motion and Force Tracking for Hydraulic Quadruped Robots

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