Human based hybrid kinematic/dynamic whole-body control in humanoid robotics

David Galdeano 1 Ahmed Chemori 2 Sébastien Krut 2 Philippe Fraisse 1, 3
1 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
2 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
3 CAMIN - Control of Artificial Movement and Intuitive Neuroprosthesis
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier, CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : In this paper, a task based whole-body control strategy with non-linear stabilizeris proposed for humanoid robots. Its basic idea lies in the control of (i) the CoM, (ii) the relative pose of robot's feet and (iii) joint's limit avoidance. A non-linear ZMP-based regulation is added in the CoM control space to improve the stability. Through the proposed study, it is shown that these tasks allow to produce smooth whole-body motions. Real-time experimentation results are presented to show the effectiveness of the proposed control scheme.
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Poster communications
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00993302
Contributor : David Galdeano <>
Submitted on : Tuesday, September 10, 2019 - 11:00:02 PM
Last modification on : Tuesday, September 10, 2019 - 11:06:34 PM

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David Galdeano, Ahmed Chemori, Sébastien Krut, Philippe Fraisse. Human based hybrid kinematic/dynamic whole-body control in humanoid robotics. HLR: Humanoid and Legged Robots, May 2014, Heidelberg, Germany. French-German-Japanese Conference on Humanoid and Legged Robots, 2014, ⟨http://orb.iwr.uni-heidelberg.de/hlr2014/HLR14/⟩. ⟨lirmm-00993302⟩

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