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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Direct Centroidal Control for Balanced Humanoid Locomotion


    Additional title:

    Lect. Notes in Networks, Syst.



    Conference:

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



    Publication date :

    2022-08-25


    Size :

    14 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    Direct Centroidal Control for Balanced Humanoid Locomotion

    Ficht, Grzegorz / Behnke, Sven | TIBKAT | 2023


    Centroidal dynamics of a humanoid robot

    Orin, D. E. | British Library Online Contents | 2013


    GLiDE: Generalizable Quadrupedal Locomotion in Diverse Environments with a Centroidal Model

    Xie, Zhaoming / Da, Xingye / Babich, Buck et al. | Springer Verlag | 2022


    GLIiDE: Generalizable Quadrupedal Locomotion in Diverse Environments with a Centroidal Model

    Xie, Zhaoming / Da, Xingye / Babich, Buck et al. | TIBKAT | 2023


    Online Control of Humanoid Robot Locomotion

    ROMUALDI, GIULIO | BASE | 2022

    Free access