The presented control framework for passivity-based multi-contact balancing originates from the works of Ott et al. (2011), who developed a balancing controller for torque-controlled, legged robots. The controller by Ott et al. (2011) features a Cartesian compliance at the center of mass for stabilizing the robot and utilizes the legs for generating the required support. We extended the concept in Henze et al. (2016b) such that the formulation does not only comprise the legs but also the arms of the robot, which yields to the presented framework for Whole-Body Control (WBC) of humanoid robots. The framework allows the robot to either use the end-effectors to generate the required support or to interact with the environment.
Whole-Body Control for Multi-contact Balancing
Spr.Tracts in Adv.Robotics
Whole-Body Control for Multi-Contact Balancing of Humanoid Robots ; Chapter : 6 ; 65-128
2021-11-04
64 pages
Article/Chapter (Book)
Electronic Resource
English
Combining Multi-contact Balancing with Hierarchical Whole-Body Control
Springer Verlag | 2021
|British Library Online Contents | 2016
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