Whole-Body Control for Multi-Contact Balancing of Humanoid Robots: Design and Experiments

Henze, Bernd

ISBN 10: 3030872149 / ISBN 13: 9783030872144

Published by Springer, 2022

About this Item

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Bibliographic Details

• Title: Whole-Body Control for Multi-Contact Balancing of Humanoid Robots: Design and Experiments
• Publisher: Springer
• Publication Date: 2022
• Language: English
• ISBN 10: 3030872149
• ISBN 13: 9783030872144
• Binding: Soft cover
• Condition: As New

About this title

Synopsis

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.