Compliant Control of Multicontact and Center-of-Mass Behaviors in Humanoid Robots

Sentis, Luis; Park, Jaeheung; Khatib, Oussama

doi:10.1109/tro.2010.2043757

Cited by 286 publications

(208 citation statements)

References 29 publications

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“…Multi-objective, task-space control [10] formulated as quadratic programming appeared recently as a golden standard for whole-body control of humanoids, see examples in [11] [5]. Tasks can be ordered in strict, weighted or a hybrid priority.…”

Section: Multimodal Task Space Qp Controlmentioning

confidence: 99%

A circuit-breaker use-case operated by a humanoid in aircraft manufacturing

Bolotnikova¹,

Chappellet²,

Paolillo³

et al. 2017

2017 13th IEEE Conference on Automation Science and Engineering (CASE)

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Abstract-Automation of large-scale aircraft manufacturing with wheeled or embedded platforms requires costly changes of the manufacturing process and the environment. Humanoid robots could address this issue. We present a use-case of HRP-4 humanoid operating circuit-breakers. We show the feasibility of using visual feedback and force control in an integrated and unified multi-contact and multimodal task space quadratic programming (QP) whole-body control framework to enable HRP-4 to perform the task. We discuss the experimental results and outline the limitations of the current platform design and control implementation.

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Section: Multimodal Task Space Qp Controlmentioning

confidence: 99%

A circuit-breaker use-case operated by a humanoid in aircraft manufacturing

Bolotnikova¹,

Chappellet²,

Paolillo³

et al. 2017

2017 13th IEEE Conference on Automation Science and Engineering (CASE)

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show abstract

“…To date, there have been a number of three-dimensional bipedal walking robots developed, such as the Honda P2, P3 and ASIMO [2,3], Sony QRIO [4], University of Munich's Johnnie [5], Kawada/AIST HRP-1S [6], HUBO by Oh, Park et al [7] and, more recently, the line of research related to whole-body-coordination [8][9][10]. The approaches proposed in the literature to obtain a dynamically-stable gait can be classified as model based or model-less.…”

Section: State Of the Art Of Bipedal Gait Controlmentioning

confidence: 99%

Modeling, Simulation and Control of the Walking of Biped Robotic Devices, Part II: Rectilinear Walking

Menga

Ghirardi

2016

Inventions

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This is the second part of a three-part paper. It extends to the free walking results of a previous work on postural equilibrium of a lower limb exoskeleton for rehabilitation exercises. A classical approach has been adopted to design gait (zero moment point (ZMP), linearized inverted pendulum theory, inverse kinematics obtained through the pseudo-inverse of Jacobian matrices). While several ideas exploited here can be found in other papers of the literature, e.g., whole-body coordination, our contribution is the simplicity of the whole control approach that originates logically from a common root. (1) The approximation of the unilateral foot/feet-ground contacts with non-holonomic constraints leads naturally to a modeling and control design that implements a two-phase switching system. The approach is facilitated by Kane's method and tools as described in Part I. (2) The Jacobian matrix is used to transfer from the Cartesian to the joint space a greater number of variables for redundancy than the degrees of freedom (DOF). We call it the extended Jacobian matrix. Redundancy and the prioritization of postural tasks is approached with weighted least squares. The singularity of the kinematics when knees are fully extended is solved very simply by fake knee joint velocities. (3) Compliance with the contact and accommodation of the swing foot on an uneven ground, when switching from single to double stance, and the transfer of weight from one foot to the other in double stance are approached by exploiting force/torque expressions returned from the constraints. (4) In the center of gravity (COG)/ZMP loop for equilibrium, an extended estimator, based on the linearized inverted pendulum, is adopted to cope with external force disturbances and unmodeled dynamics. Part II treats rectilinear walking, while Part III discusses turning while walking.

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“…in motion/force control scenarios for fixed-base manipulators, is quite well known. More recently, the formulation is being also applied to more sophisticated MBS like humanoid robots (Sentis and Khatib, 2010). A brief overview is included here for completeness.…”

Section: Brief Overview Of the Operational Space Formulationmentioning

confidence: 99%

“…In the field of biped humanoid robots, dynamic postural control in unknown environments has been discussed, see e.g. Gorce (1999); Stephens (2007); Hyon et al (2009) and also, the problem of compliant control of multicontact was addressed (Sentis and Khatib, 2010).…”

Section: Introductionmentioning

confidence: 99%

Reaction Null Space of a multibody system with applications in robotics

Nenchev

2013

Mech. Sci.

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Abstract. This paper provides an overview of implementation examples based on the Reaction Null Space formalism, developed initially to tackle the problem of satellite-base disturbance of a free-floating space robot, when the robot arm is activated. The method has been applied throughout the years to other unfixed-base systems, e.g. flexible-base and macro/mini robot systems, as well as to the balance control problem of humanoid robots. The paper also includes most recent results about complete dynamical decoupling of the end-link of a fixed-base robot, wherein the end-link is regarded as the unfixed-base. This interpretation is shown to be useful with regard to motion/force control scenarios. Respective implementation results are provided.

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Compliant Control of Multicontact and Center-of-Mass Behaviors in Humanoid Robots

Cited by 286 publications

References 29 publications

A circuit-breaker use-case operated by a humanoid in aircraft manufacturing

A circuit-breaker use-case operated by a humanoid in aircraft manufacturing

Modeling, Simulation and Control of the Walking of Biped Robotic Devices, Part II: Rectilinear Walking

Reaction Null Space of a multibody system with applications in robotics

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