Control of humanoid robot motions with impacts: numerical experiments with reference spreading control

M.W.L.M. Rijnen, E.B.C. de Mooij, S. Traversaro, Francesco Nori, N. van de Wouw, A. Saccon, H. Nijmeijer

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

8 Citations (Scopus)
8 Downloads (Pure)

Abstract

This work explores the stabilization of desired dynamic motion tasks involving hard impacts at non-negligible speed for humanoid robots. To this end, a so-called reference spreading hybrid control law is designed showing promising results in simulation. The simulations are performed employing a dynamical model of an existing humanoid robot and impacts are assumed to be inelastic. The desired motion task consists of having the robot balancing on one foot while repeatedly making and breaking contact with a wall by means of one hand. The simulation results illustrate that the considered controller is suited to control humanoid robot motions with impacts.

Original languageEnglish
Title of host publicationICRA 2017 - IEEE International Conference on Robotics and Automation, 29 May - 3 June 2017, Singapore
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
Pages4102-4107
Number of pages6
ISBN (Electronic)978-1-5090-4633-1
ISBN (Print)978-1-5090-4634-8
DOIs
Publication statusPublished - 21 Jul 2017
Event2017 IEEE International Conference on Robotics and Automation (ICRA 2017), May 29 - June 3, 2017, Singapore - Sands Expo and Convention Centre, Singapore, Singapore
Duration: 29 May 20173 Jun 2017

Conference

Conference2017 IEEE International Conference on Robotics and Automation (ICRA 2017), May 29 - June 3, 2017, Singapore
Abbreviated titleICRA 2017
CountrySingapore
CitySingapore
Period29/05/173/06/17

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