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

Morteza Azad, Michael N. Mistry

Computer Science

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

6 Citations (Scopus)

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	Proceedings - IEEE International Conference on Robotics and Automation 2015
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	4391-4396
Number of pages	6
ISBN (Print)	9781479969241
DOIs	https://doi.org/10.1109/ICRA.2015.7139806
Publication status	Published - 29 Jun 2015
Event	2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States Duration: 26 May 2015 → 30 May 2015

Conference

Conference	2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Country/Territory	United States
City	Seattle
Period	26/05/15 → 30/05/15

ASJC Scopus subject areas

Software
Artificial Intelligence
Control and Systems Engineering
Electrical and Electronic Engineering

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10.1109/ICRA.2015.7139806

Cite this

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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",

language = "English",

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booktitle = "Proceedings - IEEE International Conference on Robotics and Automation 2015",

publisher = "Institute of Electrical and Electronics Engineers (IEEE)",

note = "2015 IEEE International Conference on Robotics and Automation, ICRA 2015 ; Conference date: 26-05-2015 Through 30-05-2015",

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Azad, M & Mistry, MN 2015, Balance control strategy for legged robots with compliant contacts. in Proceedings - IEEE International Conference on Robotics and Automation 2015., 7139806, Institute of Electrical and Electronics Engineers (IEEE), pp. 4391-4396, 2015 IEEE International Conference on Robotics and Automation, ICRA 2015, Seattle, United States, 26/05/15. https://doi.org/10.1109/ICRA.2015.7139806

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T1 - Balance control strategy for legged robots with compliant contacts

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AU - Mistry, Michael N.

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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.

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DO - 10.1109/ICRA.2015.7139806

M3 - Conference contribution

AN - SCOPUS:84938249695

SN - 9781479969241

SP - 4391

EP - 4396

BT - Proceedings - IEEE International Conference on Robotics and Automation 2015

PB - Institute of Electrical and Electronics Engineers (IEEE)

T2 - 2015 IEEE International Conference on Robotics and Automation, ICRA 2015

Y2 - 26 May 2015 through 30 May 2015

ER -

Balance control strategy for legged robots with compliant contacts

Abstract

Conference

ASJC Scopus subject areas

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