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Titel:

Passivity-based full-body force control for humanoids and application to dynamic balancing and locomotion

Dokumenttyp:
Konferenzbeitrag
Art des Konferenzbeitrags:
Textbeitrag / Aufsatz
Autor(en):
Sang-Ho Hyon, Gordon Cheng
Seitenangaben Beitrag:
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...     »
Herausgeber:
IEEE
Kongress- / Buchtitel:
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems
Ausrichter der Konferenz:
IEEE
Jahr:
2006
Jahr / Monat:
2006-10
Reviewed:
ja
Sprache:
en
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