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

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/CongresprocedureConferentiebijdrageAcademicpeer review

9 Citaten (Scopus)
8 Downloads (Pure)

Samenvatting

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.

Originele taal-2Engels
TitelICRA 2017 - IEEE International Conference on Robotics and Automation, 29 May - 3 June 2017, Singapore
Plaats van productiePiscataway
UitgeverijInstitute of Electrical and Electronics Engineers
Pagina's4102-4107
Aantal pagina's6
ISBN van elektronische versie978-1-5090-4633-1
ISBN van geprinte versie978-1-5090-4634-8
DOI's
StatusGepubliceerd - 21 jul 2017
Evenement2017 IEEE International Conference on Robotics and Automation (ICRA 2017), May 29 - June 3, 2017, Singapore - Sands Expo and Convention Centre, Singapore, Singapore
Duur: 29 mei 20173 jun 2017

Congres

Congres2017 IEEE International Conference on Robotics and Automation (ICRA 2017), May 29 - June 3, 2017, Singapore
Verkorte titelICRA 2017
Land/RegioSingapore
StadSingapore
Periode29/05/173/06/17

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