{"title":"基于功率守恒变换的仿人机器人无源多接触平衡","authors":"R. Ozawa, Takumi Kamioka","doi":"10.1109/Humanoids53995.2022.10000174","DOIUrl":null,"url":null,"abstract":"We present a method to control multi-contact balance for humanoid robots. Our method is based on physical transformations, which conserve the power generated by fully actuated control inputs. We calculate several controlled wrenches to determine contact sets obtained from the quasi-static balance of a humanoid model and superimpose the wrenches after transforming them around the corresponding contact sets. The superimposed input dynamically stabilizes the whole-body motions. We experimentally validated the effectiveness of this control method with the humanoid robot E2-DR.","PeriodicalId":180816,"journal":{"name":"2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)","volume":"51 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2022-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Passivity-based multi-contact balancing of humanoid robots based on power-conserved transformations\",\"authors\":\"R. Ozawa, Takumi Kamioka\",\"doi\":\"10.1109/Humanoids53995.2022.10000174\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"We present a method to control multi-contact balance for humanoid robots. Our method is based on physical transformations, which conserve the power generated by fully actuated control inputs. We calculate several controlled wrenches to determine contact sets obtained from the quasi-static balance of a humanoid model and superimpose the wrenches after transforming them around the corresponding contact sets. The superimposed input dynamically stabilizes the whole-body motions. We experimentally validated the effectiveness of this control method with the humanoid robot E2-DR.\",\"PeriodicalId\":180816,\"journal\":{\"name\":\"2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)\",\"volume\":\"51 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2022-11-28\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/Humanoids53995.2022.10000174\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/Humanoids53995.2022.10000174","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Passivity-based multi-contact balancing of humanoid robots based on power-conserved transformations
We present a method to control multi-contact balance for humanoid robots. Our method is based on physical transformations, which conserve the power generated by fully actuated control inputs. We calculate several controlled wrenches to determine contact sets obtained from the quasi-static balance of a humanoid model and superimpose the wrenches after transforming them around the corresponding contact sets. The superimposed input dynamically stabilizes the whole-body motions. We experimentally validated the effectiveness of this control method with the humanoid robot E2-DR.
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