Whole-body control for multi-contact balancing of humanoid robots : design and experiments / Bernd Henze.
2022
TJ211.35
Linked e-resources
Linked Resource
Online Access
Concurrent users
Unlimited
Authorized users
Authorized users
Document Delivery Supplied
Can lend chapters, not whole ebooks
Details
Title
Whole-body control for multi-contact balancing of humanoid robots : design and experiments / Bernd Henze.
Author
Henze, Bernd.
ISBN
9783030872120 (electronic bk.)
3030872122 (electronic bk.)
3030872114
9783030872113
3030872122 (electronic bk.)
3030872114
9783030872113
Imprint
Cham, Switzerland : Springer, [2022]
Language
English
Description
1 online resource
Other Standard Identifiers
10.1007/978-3-030-87212-0 doi
Call Number
TJ211.35
Dewey Decimal Classification
629.8/92
Summary
This book aims at providing algorithms for balance control of legged, torque-controlled humanoid robots. A humanoid robot normally uses the feet for locomotion. This paradigm is extended by addressing the challenge of multi-contact balancing, which allows a humanoid robot to exploit an arbitrary number of contacts for support. Using multiple contacts increases the size of the support polygon, which in turn leads to an increased robustness of the stance and to an increased kinematic workspace of the robot. Both are important features for facilitating a transition of humanoid robots from research laboratories to real-world applications, where they are confronted with multiple challenging scenarios, such as climbing stairs and ladders, traversing debris, handling heavy loads, or working in confined spaces. The distribution of forces and torques among the multiple contacts is a challenging aspect of the problem, which arises from the closed kinematic chain given by the robot and its environment.
Bibliography, etc. Note
Includes bibliographical references.
Access Note
Access limited to authorized users.
Digital File Characteristics
text file
PDF
Source of Description
Online resource; title from PDF title page (SpringerLink, viewed November 9, 2021).
Series
Springer tracts in advanced robotics ; v. 143. 1610-742X
Available in Other Form
Whole-body control for multi-contact balancing of humanoid robots.
Linked Resources
Online Access
Record Appears in
Online Resources > Ebooks
All Resources
All Resources
Table of Contents
Introduction
Notation
Modeling
Cartesian Compliance
Torque-Controlled Humanoid Robot TORO
Whole-Body Control for Multi-Contact Balancing
Combining Multi-Contact Balancing with Hierarchical Whole-Body Control
Balance Control based on Reduced Dynamic Models
Applications
Discussion and Conclusion.
Notation
Modeling
Cartesian Compliance
Torque-Controlled Humanoid Robot TORO
Whole-Body Control for Multi-Contact Balancing
Combining Multi-Contact Balancing with Hierarchical Whole-Body Control
Balance Control based on Reduced Dynamic Models
Applications
Discussion and Conclusion.