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 language | English |
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Title of host publication | ICRA 2017 - IEEE International Conference on Robotics and Automation, 29 May - 3 June 2017, Singapore |
Place of Publication | Piscataway |
Publisher | Institute of Electrical and Electronics Engineers |
Pages | 4102-4107 |
Number of pages | 6 |
ISBN (Electronic) | 978-1-5090-4633-1 |
ISBN (Print) | 978-1-5090-4634-8 |
DOIs | |
Publication status | Published - 21 Jul 2017 |
Event | 2017 IEEE International Conference on Robotics and Automation, ICRA 2017 - Sands Expo and Convention Centre, Singapore, Singapore Duration: 29 May 2017 → 3 Jun 2017 |
Conference
Conference | 2017 IEEE International Conference on Robotics and Automation, ICRA 2017 |
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Abbreviated title | ICRA 2017 |
Country/Territory | Singapore |
City | Singapore |
Period | 29/05/17 → 3/06/17 |