We present an integrated approach to locomotion and balancing of humanoid robots based on direct centroidal control. Our method uses a five-mass description of a humanoid. It generates whole-body motions from desired foot trajectories and centroidal parameters of the robot. A set of simplified models is used to formulate general and intuitive control laws, which are then applied in real-time for estimating and regulating the center of mass position and orientation of the multibody’s principal axes of inertia. The combination of proposed algorithms produces a stretched-leg gait with naturally looking upper body motions. As only a 6-axis IMU and joint encoders are necessary for the implementation, the portability between robots is high. Our method has been experimentally verified using an igus® Humanoid Open Platform, demonstrating whole-body locomotion and push rejection capabilities.


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    Titel :

    Direct Centroidal Control for Balanced Humanoid Locomotion


    Weitere Titelangaben:

    Lect. Notes in Networks, Syst.


    Beteiligte:
    Cascalho, José M. (Herausgeber:in) / Tokhi, Mohammad Osman (Herausgeber:in) / Silva, Manuel F. (Herausgeber:in) / Mendes, Armando (Herausgeber:in) / Goher, Khaled (Herausgeber:in) / Funk, Matthias (Herausgeber:in) / Ficht, Grzegorz (Autor:in) / Behnke, Sven (Autor:in)

    Kongress:

    Climbing and Walking Robots Conference ; 2022 ; Ponta Delgada, Portugal September 12, 2022 - September 14, 2022



    Erscheinungsdatum :

    25.08.2022


    Format / Umfang :

    14 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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