Gravity compensation and full-body balancing for humanoid robots

Proceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS

Volumn , Issue , 2006, Pages 214-221

  Hyon, Sang Ho ^a,b   Cheng, Gordon ^a,b  

^a JAPAN SCIENCE AND TECHNOLOGY AGENCY   (Japan)

^b ADVANCED TELECOMMUNICATIONS RESEARCH INSTITUTE INTERNATIONAL   (Japan)

Author keywords

Balancing; Contact force; Full body motion control; Gravity compensation; Humanoid interaction; Passivity

Indexed keywords

END EFFECTORS; EXTRACTIVE METALLURGY; FORCE MEASUREMENT; GRAVITATION; GRAVITATIONAL EFFECTS; INTELLIGENT ROBOTS; ROBOTICS; SPACE FLIGHT;

BALANCING; BIPED HUMANOID ROBOTS; CONTACT FORCE; CONTACT FORCE CONTROL; CONTACT FORCES; CONTACT POINTS; EXTERNAL FORCING; FULL-BODY; FULL-BODY MOTION CONTROL; GRAVITY COMPENSATION; HUMANOID INTERACTION; HUMANOID ROBOTS; INTERNATIONAL CONFERENCES; JOINT TORQUES; PASSIVITY; PHYSICAL INTERACTIONS; SPACE TRAJECTORIES;

ROBOTS;

EID: 48149089316     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICHR.2006.321387     Document Type: Conference Paper

References (17)

1. A. Takanishi, T. Takeya, H. Karaki, and I. Kato, "A control method for dynamic biped walking under unknown external force," in Proc. of IEEE International Workshop on Intelligent Robots and Systems, July 1990, pp. 795-801.
2. K. Hirai, M. Hirose, Y. Haikawa, and T. Takenaka, "The development of the honda humanoid robot," in Proc. of IEEE International Conference on Robotics and Automation, Leuven, Belgium, May 1998, pp. 1321-1328.
3. T. Sugihara and Y. Nakamura, "Whole-body cooperative balancing of humanoid robot using COG Jacobian," in Proc. of IEEE/RSJ International Conference on Intelligent Robots and System, vol. 3, Lausanne, Swiss, Sept. 2002, pp. 2575 - 2580.
4. S. A. Setiawan, S. Hyon, J. Yamaguchi, and A. Takanishi, "Physical interaction between human and a bipedal humanoid robot -realization of human-follow walking-," in Proc. of IEEE International Conference on Robotics and Automation, Detroit, May 1999, pp. 361-367.
5. O. Khatib, "A unified approach for motion and force control of robot manipulators: The operational space formulation," IEEE Journal of Robotics and Automation, vol. RA-3, no. 1, pp. 43-53, 1987.
6. L. Sentis and O. Khatib, "Synthesis of whole-body behaviors through hierarchical control of behavioral primitives," International Journal of Humanoid Robotics, 2005.
7. S. Hyon and G. Cheng, "Passivity-based full-body force control for humanoids and application to dynamic balancing and locomotion," in Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, Oct. 2006, pp. 4915-4922.
8. S. Hyon, "Hamiltonian-based running control of dynamic legged robots," Systems, Control and Information, vol. 49, no. 7, pp. 260-265, 2005 (in Japanese).
9. S. Hyon and T. Emura, "Symmetric walking control: Invariance and global stability," in Proc. of IEEE International Conference on Robotics and Automation, Barcelona, Spain, Apr 2005, pp. 1455-1462.
10. A. J. van der Schaft, L2-Gain and Passivity Techniques in Nonlinear Control. Springer, 1999.
11. G. Cheng, S. Hyon, J. Morimoto, A. Ude, and S. C. Jacobsen, "CB: A humanoid research platform for exploring neuroscience," in Proc. of IEEE-RAS International Conference on Humanoid Robots, Genova, Itary, 2006 (in press).
12. J. Park and O. Khatib, "A whole-body control framework for humanoids operating in human environments," in Proc. of IEEE International Conference on Robotics and Automation, Orlando, USA, 2006, pp. 1963-1969.
13. Greenwood, Classical Dynamics. Dover, 1977.
14. R. Featherstone, Robot Dynamics Algorithms. Kluwer Academic, 1987.
15. R. M. Murray, Z. Li, and S. S. Sastry, A Mathematical Introduction to Robotic Manipulation. CRC Press, 1994.
16. S. Hyon, N. Yokoyama, and T. Emura, "Back handspring of a multilink gymnastic robot - reference model approach," Advanced Robotics, vol. 20, no. 1, pp. pp.93-113, 2006.
17. S. Arimoto, M. Sekimoto, H. Hashiguchi, and R. Ozawa, "Natural resolution of ill-posedness of inverse kinematics for redundant robots: a challenge to bernstein's degrees-of-freedom problem," Advanced Robotics, vol. 19, no. 4, pp. 401-434, 2005.