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Experiments with Balancing on Irregular Terrains using the Dreamer Mobile Humanoid Robot
University of Texas at Austin, Austin, Texas, United States. (Human-Centered Robotics Lab)
University of Texas at Austin, Austin, Texas, United States. (Human-Centered Robotics Lab)
Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), Laboratoriet för intelligenta system.ORCID-id: 0000-0003-3513-8854
2013 (Engelska)Ingår i: Robotics: Science and Systems VIII / [ed] Roy N., Newman P. & Srinivasa S., Cambridge, Mass.: MIT Press, 2013, Vol. 8, s. 393-400Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

We investigate controllers for mobile humanoid robots that maneuver in irregular terrains while performing accurate physical interactions with the environment and with human operators and test them on Dreamer, our new robot with a humanoid upper body (torso, arm, head) and a holonomic mobile base (triangularly arranged Omni wheels). All its actuators are torque controlled, and the upper body provides redundant degrees of freedom. We developed new dynamical models and created controllers that stabilize the robot in the presence of slope variations, while it compliantly interacts with humans.

This paper considers underactuated free-body dynamics with contact constraints between the wheels and the terrain. Moreover, Dreamer incorporates a biarticular mechanical transmission that we model as a force constraint. Using these tools, we develop new compliant multiobjective skills and include self-motion stabilization for the highly redundant robot. © 2013 Massachusetts Institute of Technology.

Ort, förlag, år, upplaga, sidor
Cambridge, Mass.: MIT Press, 2013. Vol. 8, s. 393-400
Serie
Robotics: Science and Systems, ISSN 2330-7668
Nyckelord [en]
humanoid robot, compliant control
Nationell ämneskategori
Datorseende och robotik (autonoma system)
Identifikatorer
URN: urn:nbn:se:hh:diva-17549Scopus ID: 2-s2.0-84959281393ISBN: 9780262519687 (tryckt)OAI: oai:DiVA.org:hh-17549DiVA, id: diva2:552741
Konferens
Robotics: Science and Systems (RSS) 2012, University of Sydney, Sydney, NSW, Australia, July 09-13, 2012
Tillgänglig från: 2012-09-16 Skapad: 2012-04-24 Senast uppdaterad: 2018-01-12Bibliografiskt granskad

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ScopusArticle on roboticsproceedings.org

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Philippsen, Roland

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