Task-priority based redundancy control of robot manipulators
International Journal of Robotics Research
Robot Dynamics Algorithm
Athlete: A cargo handling and manipulation robot for the moon: Research Articles
Journal of Field Robotics - Special Issue on Space Robotics, Part III
Synthesis and control of whole-body behaviors in humanoid systems
Synthesis and control of whole-body behaviors in humanoid systems
Mobile, dexterous, social robots for mobile manipulation and human-robot interaction
ACM SIGGRAPH 2008 new tech demos
Biarticular legged robot: Design and experiments
ROBIO '09 Proceedings of the 2008 IEEE International Conference on Robotics and Biomimetics
Kinematic reconfigurability of mobile robots on irregular terrains
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Learning and generalization of motor skills by learning from demonstration
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Design of human symbiotic robot TWENDY-ONE
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
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
Full-Body Compliant Human–Humanoid Interaction: Balancing in the Presence of Unknown External Forces
IEEE Transactions on Robotics
Optimal distribution of contact forces with inverse-dynamics control
International Journal of Robotics Research
Generation of whole-body optimal dynamic multi-contact motions
International Journal of Robotics Research
Hi-index | 0.00 |
In this work, we implement the floating base prioritized whole-body compliant control framework described in Sentis et al. (IEEE Transactions on Robotics 26(3):483---501, 2010) on a wheeled humanoid robot maneuvering in sloped terrains. We then test it for a variety of compliant whole-body behaviors including balance and kinesthetic mobility on irregular terrain, and Cartesian hand position tracking using the co-actuated (i.e. two joints are simultaneously actuated with one motor) robot's upper body. The implementation serves as a hardware proof for a variety of whole-body control concepts that had previously been developed and tested in simulation. First, behaviors of two and three priority tasks are implemented and successfully executed on the humanoid hardware. In particular, first and second priority tasks are linearized in the task space through model feedback and then controlled through task accelerations. Postures, on the other hand, are shown to be asymptotically stable when using prioritized whole-body control structures and then successfully tested in the real hardware. To cope with irregular terrains, the base is modeled as a six degree of freedom floating system and the wheels are characterized through contact and rolling constraints. Finally, center of mass balance capabilities using whole-body compliant control and kinesthetic mobility are implemented and tested in the humanoid hardware to climb terrains with various slopes.