Balance control strategy for legged robots with compliant contacts

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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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.

Details

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation 2015
Publication statusPublished - 29 Jun 2015
Event2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States
Duration: 26 May 201530 May 2015

Conference

Conference2015 IEEE International Conference on Robotics and Automation, ICRA 2015
CountryUnited States
CitySeattle
Period26/05/1530/05/15