Whole-Body Control for Multi-Contact Balancing of Humanoid Robots

Language: English

Published by Springer, Springer International Publishing Nov 2021, 2021

3030872114 / 9783030872113

Series: Book 141 of 153 - Springer Tracts in Advanced Robotics

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This item is printed on demand - Print on Demand Titel. Neuware -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.Springer-Verlag KG, Sachsenplatz 4-6, 1201 Wien 216 pp. Englisch.

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Title
Whole-Body Control for Multi-Contact Balancing of Humanoid Robots
Author
Bernd Henze
Publisher
Springer, Springer International Publishing Nov 2021
Publication year
2021
Condition
Neu
Binding
Buch
Language
English
ISBN 10
3030872114
ISBN 13
9783030872113
Item weight
494 grams
Dimensions
241x160x18 mm
Series
Book 141 of 153: Springer Tracts in Advanced Robotics

buchversandmimpf2000

Emtmannsberg, BAYE, Germany

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AbeBooks seller since January 23, 2017

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