Compliant terrain adaptation for biped humanoids without measuring ground surface and contact forces
IEEE Transactions on Robotics
A hybrid CPG-ZMP controller for the real-time balance of a simulated flexible spine humanoid robot
IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews
Integration of multi-level postural balancing on humanoid robots
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
A compact soft actuator unit for small scale human friendly robots
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Leg mechanisms for hydraulically actuated robots
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Development of Wearable-Agri-Robot: mechanism for agricultural work
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Modeling and control of multi-contact centers of pressure and internal forces in humanoid robots
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Compliant control of multicontact and center-of-mass behaviors in humanoid robots
IEEE Transactions on Robotics
Task-specific generalization of discrete and periodic dynamic movement primitives
IEEE Transactions on Robotics
A GJK-based approach to contact force feasibility and distribution for multi-contact robots
Robotics and Autonomous Systems
International Journal of Robotics Research
Balancing and posture controls for biped robots with unmodelled dynamics
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part I
Reflexive stability control framework for humanoid robots
Autonomous Robots
Optimal distribution of contact forces with inverse-dynamics control
International Journal of Robotics Research
Observer based biped walking control, a sensor fusion approach
Autonomous Robots
Generation of whole-body optimal dynamic multi-contact motions
International Journal of Robotics Research
Variable impedance actuators: A review
Robotics and Autonomous Systems
| Hi-index | 0.00 |
This paper proposes an effective framework of human-humanoid robot physical interaction. Its key component is a new control technique for full-body balancing in the presence of external forces, which is presented and then validated empirically. We have adopted an integrated system approach to develop humanoid robots. Herein, we describe the importance of replicating human-like capabilities and responses during human-robot interaction in this context. Our balancing controller provides gravity compensation, making the robot passive and thereby facilitating safe physical interactions. The method operates by setting an appropriate ground reaction force and transforming these forces into full-body joint torques. It handles an arbitrary number of force interaction points on the robot. It does not require force measurement at interested contact points. It requires neither inverse kinematics nor inverse dynamics. It can adapt to uneven ground surfaces. It operates as a force control process, and can therefore, accommodate simultaneous control processes using force-, velocity-, or position-based control. Forces are distributed over supporting contact points in an optimal manner. Joint redundancy is resolved by damping injection in the context of passivity. We present various force interaction experiments using our full-sized bipedal humanoid platform, including compliant balance, even when affected by unknown external forces, which demonstrates the effectiveness of the method.