Momentum Control of an Underactuated Flying Humanoid Robot

The letter takes the first step toward the development of a control framework for underactuated flying humanoid robots. These robots may thus have the capacities of flight, contact locomotion, and manipulation, and benefit from technologies and methods developed for Whole-Body Control and Aerial Man...

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Bibliographic Details
Published inIEEE robotics and automation letters Vol. 3; no. 1; pp. 195 - 202
Main Authors Pucci, Daniele, Traversaro, Silvio, Nori, Francesco
Format Journal Article
LanguageEnglish
Published Piscataway IEEE 01.01.2018
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Acceleration
Aerial systems
Computer simulation
Control methods
End effectors
Force
Humanoid
Humanoid robots
Locomotion
mechanics and control
Mobile robots
Momentum
motion control
Robot kinematics
Robot sensing systems
Robots
Rotary wing aircraft
Thrust
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Summary:The letter takes the first step toward the development of a control framework for underactuated flying humanoid robots. These robots may thus have the capacities of flight, contact locomotion, and manipulation, and benefit from technologies and methods developed for Whole-Body Control and Aerial Manipulation. As in the case of quadrotors, we assume that the humanoid robot is powered by four thrust forces. For convenience, these forces are placed at the robot hands and feet. The control objective is defined as the asymptotic stabilization of the robot centroidal momentum. This objective allows us to track a desired trajectory for the robot center of mass and keep small errors between a reference orientation and the robot base frame. Stability and convergence of the robot momentum are shown to be in the sense of Lyapunov. Simulations carried out on a model of the humanoid robot iCub verify the soundness of the proposed approach.
ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2017.2734245