A Control Architecture with Online Predictive Planning for Position and Torque Controlled Walking of Humanoid Robots
| العنوان: | A Control Architecture with Online Predictive Planning for Position and Torque Controlled Walking of Humanoid Robots |
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| المؤلفون: | Marie Charbonneau, Silvio Traversaro, Giorgio Metta, Nuno Guedelha, Luca Fiorio, Gabriele Nava, Daniele Pucci, Francesco Nori, Francesco Romano, Stefano Dafarra, Francisco Andradel |
| المصدر: | IROS 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
| بيانات النشر: | IEEE, 2018. |
| سنة النشر: | 2018 |
| مصطلحات موضوعية: | FOS: Computer and information sciences, 0209 industrial biotechnology, Robot kinematics, 021103 operations research, Inverse kinematics, Computer science, 0211 other engineering and technologies, 02 engineering and technology, Kinematics, Computer Science::Robotics, Computer Science - Robotics, 020901 industrial engineering & automation, Control theory, 11. Sustainability, Trajectory, Robot, Torque, Robotics (cs.RO), iCub, Humanoid robot, Inner loop |
| الوصف: | A common approach to the generation of walking patterns for humanoid robots consists in adopting a layered control architecture. This paper proposes an architecture composed of three nested control loops. The outer loop exploits a robot kinematic model to plan the footstep positions. In the mid layer, a predictive controller generates a Center of Mass trajectory according to the well-known table-cart model. Through a whole-body inverse kinematics algorithm, we can define joint references for position controlled walking. The outcomes of these two loops are then interpreted as inputs of a stack-of-task QP-based torque controller, which represents the inner loop of the presented control architecture. This resulting architecture allows the robot to walk also in torque control, guaranteeing higher level of compliance. Real world experiments have been carried on the humanoid robot iCub. IROS 2018 |
| ردمك: | 978-1-5386-8094-0 |
| DOI: | 10.1109/iros.2018.8594277 |
| URL الوصول: | https://explore.openaire.eu/search/publication?articleId=doi_dedup___::0195e811d4a77c46aa2ede2d4f246505 https://doi.org/10.1109/iros.2018.8594277 |
| Rights: | OPEN |
| رقم الانضمام: | edsair.doi.dedup.....0195e811d4a77c46aa2ede2d4f246505 |
| قاعدة البيانات: | OpenAIRE |
| ردمك: | 9781538680940 |
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| DOI: | 10.1109/iros.2018.8594277 |