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Whole-body control for multi-contact...

Henze, Bernd.

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Whole-body control for multi-contact balancing of humanoid robots = design and experiments /

Record Type:	Electronic resources : Monograph/item
Title/Author:	Whole-body control for multi-contact balancing of humanoid robots/ by Bernd Henze.
Reminder of title:	design and experiments /
Author:	Henze, Bernd.
Published:	Cham :Springer International Publishing : : 2022.,
Description:	xvi, 199 p. :ill., digital ;24 cm.
[NT 15003449]:	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.
Contained By:	Springer Nature eBook
Subject:	Robots - Control systems. -
Online resource:	https://doi.org/10.1007/978-3-030-87212-0
ISBN:	9783030872120

Whole-body control for multi-contact balancing of humanoid robots = design and experiments /
Henze, Bernd.

Whole-body control for multi-contact balancing of humanoid robotsdesign and experiments /[electronic resource] :by Bernd Henze. - Cham :Springer International Publishing :2022. - xvi, 199 p. :ill., digital ;24 cm. - Springer tracts in advanced robotics,v. 1431610-742X ;. - Springer tracts in advanced robotics ;v. 143..

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.

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.

ISBN: 9783030872120

Standard No.: 10.1007/978-3-030-87212-0doiSubjects--Topical Terms:

667305
Robots
--Control systems.

LC Class. No.: TJ211.35 / .H45 2022

Dewey Class. No.: 629.892

Whole-body control for multi-contact balancing of humanoid robots = design and experiments /
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505 0 $a 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.
520 $a 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.
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