Balance control strategy for legged robots with compliant contacts

Morteza Azad; Michael N. Mistry

doi:10.1109/ICRA.2015.7139806

Balance control strategy for legged robots with compliant contacts

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper proposes a momentum-based balancing controller for robots which have non-rigid contacts with their environments. This controller regulates both linear momentum and angular momentum about the center of mass of the robot by controlling the contact forces. Compliant contact models are used to determine the contact forces at the contact points. Simulation results show the performance of the controller on a four-link planar robot standing on various compliant surfaces while unknown external forces in different directions are acting on the center of mass of the robot.

Original language	English
Title of host publication	IEEE International Conference on Robotics and Automation, ICRA 2015, Seattle, WA, USA, 26-30 May, 2015
Publisher	Institute of Electrical and Electronics Engineers
Pages	4391-4396
Number of pages	6
ISBN (Electronic)	978-1-4799-6923-4
ISBN (Print)	978-1-4799-6924-1
DOIs	https://doi.org/10.1109/ICRA.2015.7139806
Publication status	Published - 2 Jul 2015

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http://ieeexplore.ieee.org/document/7139806/

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title = "Balance control strategy for legged robots with compliant contacts",

abstract = "This paper proposes a momentum-based balancing controller for robots which have non-rigid contacts with their environments. This controller regulates both linear momentum and angular momentum about the center of mass of the robot by controlling the contact forces. Compliant contact models are used to determine the contact forces at the contact points. Simulation results show the performance of the controller on a four-link planar robot standing on various compliant surfaces while unknown external forces in different directions are acting on the center of mass of the robot.",

author = "Morteza Azad and Mistry, {Michael N.}",

year = "2015",

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doi = "10.1109/ICRA.2015.7139806",

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publisher = "Institute of Electrical and Electronics Engineers",

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T1 - Balance control strategy for legged robots with compliant contacts

AU - Azad, Morteza

AU - Mistry, Michael N.

PY - 2015/7/2

Y1 - 2015/7/2

N2 - This paper proposes a momentum-based balancing controller for robots which have non-rigid contacts with their environments. This controller regulates both linear momentum and angular momentum about the center of mass of the robot by controlling the contact forces. Compliant contact models are used to determine the contact forces at the contact points. Simulation results show the performance of the controller on a four-link planar robot standing on various compliant surfaces while unknown external forces in different directions are acting on the center of mass of the robot.

AB - This paper proposes a momentum-based balancing controller for robots which have non-rigid contacts with their environments. This controller regulates both linear momentum and angular momentum about the center of mass of the robot by controlling the contact forces. Compliant contact models are used to determine the contact forces at the contact points. Simulation results show the performance of the controller on a four-link planar robot standing on various compliant surfaces while unknown external forces in different directions are acting on the center of mass of the robot.

U2 - 10.1109/ICRA.2015.7139806

DO - 10.1109/ICRA.2015.7139806

M3 - Conference contribution

SN - 978-1-4799-6924-1

SP - 4391

EP - 4396

BT - IEEE International Conference on Robotics and Automation, ICRA 2015, Seattle, WA, USA, 26-30 May, 2015

PB - Institute of Electrical and Electronics Engineers

ER -

Balance control strategy for legged robots with compliant contacts

Abstract

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