Balance control strategy for legged robots with compliant contacts

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

Standard

Balance control strategy for legged robots with compliant contacts. / Azad, Morteza; Mistry, Michael N.

Proceedings - IEEE International Conference on Robotics and Automation 2015. Institute of Electrical and Electronics Engineers (IEEE), 2015. p. 4391-4396 7139806.

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

Harvard

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

APA

Azad, M., & Mistry, M. N. (2015). Balance control strategy for legged robots with compliant contacts. In Proceedings - IEEE International Conference on Robotics and Automation 2015 (pp. 4391-4396). [7139806] Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/ICRA.2015.7139806

Vancouver

Azad M, Mistry MN. Balance control strategy for legged robots with compliant contacts. In Proceedings - IEEE International Conference on Robotics and Automation 2015. Institute of Electrical and Electronics Engineers (IEEE). 2015. p. 4391-4396. 7139806 https://doi.org/10.1109/ICRA.2015.7139806

Author

Azad, Morteza ; Mistry, Michael N. / Balance control strategy for legged robots with compliant contacts. Proceedings - IEEE International Conference on Robotics and Automation 2015. Institute of Electrical and Electronics Engineers (IEEE), 2015. pp. 4391-4396

Bibtex

@inproceedings{4fdc69785d5944b098ef80229e1ad3e3,
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",
month = jun,
day = "29",
doi = "10.1109/ICRA.2015.7139806",
language = "English",
isbn = "9781479969241",
pages = "4391--4396",
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",

}

RIS

TY - GEN

T1 - Balance control strategy for legged robots with compliant contacts

AU - Azad, Morteza

AU - Mistry, Michael N.

PY - 2015/6/29

Y1 - 2015/6/29

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.

UR - http://www.scopus.com/inward/record.url?scp=84938249695&partnerID=8YFLogxK

U2 - 10.1109/ICRA.2015.7139806

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 -