Whole-Body Control for Multi-Contact Balancing of Humanoid Robots - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Whole-Body Control for Multi-Contact Balancing of Humanoid Robots write by Bernd Henze. This book was released on 2021-11-03. Whole-Body Control for Multi-Contact Balancing of Humanoid Robots available in PDF, EPUB and Kindle. 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.
Whole-Body Impedance Control of Wheeled Humanoid Robots
Whole-Body Impedance Control of Wheeled Humanoid Robots - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Whole-Body Impedance Control of Wheeled Humanoid Robots write by Alexander Dietrich. This book was released on 2016-07-02. Whole-Body Impedance Control of Wheeled Humanoid Robots available in PDF, EPUB and Kindle. Introducing mobile humanoid robots into human environments requires the systems to physically interact and execute multiple concurrent tasks. The monograph at hand presents a whole-body torque controller for dexterous and safe robotic manipulation. This control approach enables a mobile humanoid robot to simultaneously meet several control objectives with different pre-defined levels of priority, while providing the skills for compliant physical contacts with humans and the environment. After a general introduction into the topic of whole-body control, several essential reactive tasks are developed to extend the repertoire of robotic control objectives. Additionally, the classical Cartesian impedance is extended to the case of mobile robots. All of these tasks are then combined and integrated into an overall, priority-based control law. Besides the experimental validation of the approach, the formal proof of asymptotic stability for this hierarchical controller is presented. By interconnecting the whole-body controller with an artificial intelligence, the immense potential of the integrated approach for complex real-world applications is shown. Several typical household chores, such as autonomously wiping a window or sweeping the floor with a broom, are successfully performed on the mobile humanoid robot Rollin’ Justin of the German Aerospace Center (DLR). The results suggest the presented controller for a large variety of fields of application such as service robotics, human-robot cooperation in industry, telepresence in medical applications, space robotics scenarios, and the operation of mobile robots in dangerous and hazardous environments.
Compliant Whole-body Control of Humanoid Robots
Compliant Whole-body Control of Humanoid Robots - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Compliant Whole-body Control of Humanoid Robots write by Taizo Yoshikawa. This book was released on 2019. Compliant Whole-body Control of Humanoid Robots available in PDF, EPUB and Kindle. A major obstacle that prevents humanoid robots from accomplishing real world tasks is their inability to physically interact with, and effectively manipulate, the most common objects generally found in human environments. Even tasks that seem simple for a human remain a significant challenge for most robots. Robots generally employ precision to perform a manipulation task. Humans, in contrast, employ compliance through tactile and force feedback to overcome their imprecision, allowing them to resolve uncertainties associated with the task. The lack of compliance and force control has been indeed a major limiting factor in the ability of robots to interact and manipulate in human environments. One of the major objectives of this research is to endow humanoid robots with whole-body compliant motion abilities. With compliance, a robot overcomes position uncertainties by moving in directions that reduce contact forces, which in turn directs it towards its goal. Whole-body framework was designed to allow the robot to compliantly interact with its environment at multiple contact points. The synthesis of compliant tasks is greatly simplified by being independent of postures and constraints, which are automatically integrated in the control hierarchy. This research focuses on the development of (I) sensor-based whole-body compliant motion primitives, (II) contact sensing and contact force control, (III) whole-body multi-contact for extended support, kneeling, crawling, leaning table, and locomotion strategy to improve support in unstructured terrains, (IV) dynamic collision-free motion planning and (V) dynamic collision-free walking path planning.
Human-Inspired Balancing and Recovery Stepping for Humanoid Robots
Human-Inspired Balancing and Recovery Stepping for Humanoid Robots - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Human-Inspired Balancing and Recovery Stepping for Humanoid Robots write by Kaul, Lukas Sebastian. This book was released on 2019-05-15. Human-Inspired Balancing and Recovery Stepping for Humanoid Robots available in PDF, EPUB and Kindle. Robustly maintaining balance on two legs is an important challenge for humanoid robots. The work presented in this book represents a contribution to this area. It investigates efficient methods for the decision-making from internal sensors about whether and where to step, several improvements to efficient whole-body postural balancing methods, and proposes and evaluates a novel method for efficient recovery step generation, leveraging human examples and simulation-based reinforcement learning.
Humanoid Robotics: A Reference
Humanoid Robotics: A Reference - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Humanoid Robotics: A Reference write by Prahlad Vadakkepat. This book was released on 2017-02-14. Humanoid Robotics: A Reference available in PDF, EPUB and Kindle. Humanoid Robotics provides a comprehensive compilation of developments in the conceptualization, design and development of humanoid robots and related technologies. Human beings have built the environment they occupy (living spaces, instruments and vehicles) to suit two-legged systems. Building systems, especially in robotics, that are compatible with the well-established, human-based surroundings and which could naturally interact with humans is an ultimate goal for all researches and engineers. Humanoid Robots are systems (i.e. robots) which mimic human behavior. Humanoids provide a platform to study the construction of systems that behave and interact like humans. A broad range of applications ranging from daily housework to complex medical surgery, deep ocean exploration, and other potentially dangerous tasks are possible using humanoids. In addition, the study of humanoid robotics provides a platform to understand the mechanisms and offers a physical visual of how humans interact, think, and react with the surroundings and how such behaviors could be reassembled and reconstructed. Currently, the most challenging issue with bipedal humanoids is to make them balance on two legs, The purportedly simple act of finding the best balance that enables easy walking, jumping and running requires some of the most sophisticated development of robotic systems- those that will ultimately mimic fully the diversity and dexterity of human beings. Other typical human-like interactions such as complex thought and conversations on the other hand, also pose barriers for the development of humanoids because we are yet to understand fully the way in which we humans interact with our environment and consequently to replicate this in humanoids.
