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Document type:
Konferenzbeitrag 
Contribution type:
Textbeitrag / Aufsatz 
Author(s):
Sang-Ho Hyon, Gordon Cheng 
Title:
Passivity-based full-body force control for humanoids and application to dynamic balancing and locomotion 
Pages contribution:
4915-4922 
Abstract:
This paper proposes a passivity-based hierarchical full-body motion controller for force-controllable multi-DOF humanoid robots. The task-space forces are treated in a uniform manner for a variety of position/force tracking and force/moment compensation. The contact force closure is optimally solved and transformed directly into the joint torques in real-time without any joint trajectory planning. With this framework, we introduce gravity compensation at the lowest layer of the controller that m...    »
 
Editor:
IEEE 
Book / Congress title:
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems 
Organization:
IEEE 
Year:
2006 
Year / month:
2006-10 
Reviewed:
ja 
Language:
en