Whole-Body Control for Multi-Contact Balan...

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Beschreibung

This book aims at providing algorithms for balance control of legged, torque-controlled humanoid robots. A humanoid robot normally uses the feet for locomotion. This paradigm is extended by addressing the challenge of multi-contact balancing, which allows a humanoid robot to exploit an arbitrary number of contacts for support. Using multiple contacts increases the size of the support polygon, which in turn leads to an increased robustness of the stance and to an increased kinematic workspace of the robot. Both are important features for facilitating a transition of humanoid robots from research laboratories to real-world applications, where they are confronted with multiple challenging scenarios, such as climbing stairs and ladders, traversing debris, handling heavy loads, or working in confined spaces. The distribution of forces and torques among the multiple contacts is a challenging aspect of the problem, which arises from the closed kinematic chain given by the robot and its environment.

Zusammenfassung

Provides novel algorithms for balance control of legged, torque-controlled humanoid robots

Addresses challenge of multi-contact balancing, which allows a humanoid robot

Is winner of the George Giralt PhD Award for extraordinary contributions in robotics

Inhaltsverzeichnis

Introduction.- Notation.- Modeling.- Cartesian Compliance.- Torque-Controlled Humanoid Robot TORO.- Whole-Body Control for Multi-Contact Balancing.- Combining Multi-Contact Balancing with Hierarchical Whole-Body Control.- Balance Control based on Reduced Dynamic Models.- Applications.- Discussion and Conclusion.

Details

Erscheinungsjahr:	2022
Fachbereich:	Nachrichtentechnik
Genre:	Mathematik , Medizin , Naturwissenschaften , Technik
Rubrik:	Naturwissenschaften & Technik
Medium:	Taschenbuch
Reihe:	Springer Tracts in Advanced Robotics
Inhalt:	xvi 199 S. 5 s/w Illustr. 67 farbige Illustr. 199 p. 72 illus. 67 illus. in color.
ISBN-13:	9783030872144
ISBN-10:	3030872149
Sprache:	Englisch
Einband:	Kartoniert / Broschiert
Autor:	Henze, Bernd
Hersteller:	Springer Springer International Publishing Springer International Publishing AG Springer Tracts in Advanced Robotics
Verantwortliche Person für die EU:	Springer Verlag GmbH, Tiergartenstr. 17, D-69121 Heidelberg, juergen.hartmann@springer.com
Maße:	235 x 155 x 12 mm
Von/Mit:	Bernd Henze
Erscheinungsdatum:	05.11.2022
Gewicht:	0,335 kg