Gravity compensation and full-body balancing for humanoid robots

Sang Ho Hyon, Gordon Cheng

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

47 Scopus citations

Abstract

This paper proposes gravity compensation and contact force control for multi-DOF humanoid robots and demonstrates various balancing experiments. Gravity compensation is derived in the context of controlling contact force. It makes the robot passive with respect to the external force, hence plays a very important role for physical interaction. A desired applied force from the robot to the environment, such as antigravitational force, is optimally distributed to the contact forces at arbitrary contact points, then transformed to the wholebody joint torques directly. Different from previous methods, the proposed method does not require contact force measurement, inverse kinematics/dynamics, nor to specify the weight that determines which joint should compensate for external forces. The experimental results show the robot could actually keep self-balance under unknown disturbances, track to some desired task-space trajectories, and interact with the environment at any contact points. It is the first time that gravity compensation and force-based balancing/interaction have been realized by a fullsized biped humanoid robot.

Original languageEnglish
Title of host publicationProceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS
Pages214-221
Number of pages8
DOIs
StatePublished - 2006
Externally publishedYes
Event2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS - Genoa, Italy
Duration: 4 Dec 20066 Dec 2006

Publication series

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

Conference

Conference2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS
Country/TerritoryItaly
CityGenoa
Period4/12/066/12/06

Keywords

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

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