Dynamic Balance Force Control for compliant humanoid robots

This paper presents a model-based method, called Dynamic Balance Force Control (DBFC), for determining full body joint torques based on desired COM motion and contact forces for compliant humanoid robots. The center of mass (COM) dynamics are affected directly through contact force control to achiev...

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Bibliographic Details
Published in2010 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 1248 - 1255
Main Authors Stephens, B J, Atkeson, C G
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2010
Subjects
Dynamics
Force
Joints
Mathematical model
Robots
Torque
Torso
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Summary:This paper presents a model-based method, called Dynamic Balance Force Control (DBFC), for determining full body joint torques based on desired COM motion and contact forces for compliant humanoid robots. The center of mass (COM) dynamics are affected directly through contact force control to achieve stable balance. This idea is used to formulate DBFC considering the full rigid-body dynamics of the robot to produce desired contact forces. To achieve generic force control tasks, a virtual model controller, DBFC-VMC, is presented. Results presented from experiments on a force-controlled humanoid robot and simulation demonstrate the general purpose use of this control.
ISBN:9781424466740
1424466741
ISSN:2153-0858
DOI:10.1109/IROS.2010.5648837