TY - GEN
T1 - Gravity compensation and full-body balancing for humanoid robots
AU - Hyon, Sang Ho
AU - Cheng, Gordon
PY - 2006
Y1 - 2006
N2 - 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.
AB - 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.
KW - Balancing
KW - Contact force
KW - Full-body motion control
KW - Gravity compensation
KW - Humanoid interaction
KW - Passivity
UR - http://www.scopus.com/inward/record.url?scp=48149089316&partnerID=8YFLogxK
U2 - 10.1109/ICHR.2006.321387
DO - 10.1109/ICHR.2006.321387
M3 - Conference contribution
AN - SCOPUS:48149089316
SN - 142440200X
SN - 9781424402007
T3 - Proceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS
SP - 214
EP - 221
BT - Proceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS
T2 - 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS
Y2 - 4 December 2006 through 6 December 2006
ER -