loading
Documents

Research.Publish.Connect.

Paper

Authors: Nirmal Giftsun ; Andrea Del Prete and Florent Lamiraux

Affiliation: Laboratory for Analysis and Architecture of Systems, France

ISBN: 978-989-758-263-9

Keyword(s): Humanoid Robots, Robust Control, Inverse-Dynamics Control, Optimization and Optimal Control.

Related Ontology Subjects/Areas/Topics: Humanoid Robots ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Optimization Algorithms ; Robotics and Automation

Abstract: Model-based control has become more and more popular in the legged robots community in the last ten years. The key idea is to exploit a model of the system to compute precise motor commands that result in the desired motion. This allows to improve the quality of the motion tracking, while using lower gains, leading so to higher compliance. However, the main flaw of this approach is typically its lack of robustness to modeling errors. In this paper we focus on the robustness of inverse-dynamics control to errors in the inertial parameters of the robot. We assume these parameters to be known, but only with a certain accuracy. We then propose a computationally-efficient optimization-based controller that ensures the balance of the robot despite these uncertainties. We used the proposed controller in simulation to perform different reaching tasks with the HRP-2 humanoid robot, in the presence of various modeling errors. Comparisons against a standard inverse-dynamics controller through hu ndreds of simulations show the superiority of the proposed controller in ensuring the robot balance. (More)

PDF ImageFull Text

Download
Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 54.146.98.143

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Giftsun, N.; Del Prete, A. and Lamiraux, F. (2017). Robustness to Inertial Parameter Errors for Legged Robots Balancing on Level Ground.In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-263-9, pages 37-44. DOI: 10.5220/0006397800370044

@conference{icinco17,
author={Nirmal Giftsun. and Andrea Del Prete. and Florent Lamiraux.},
title={Robustness to Inertial Parameter Errors for Legged Robots Balancing on Level Ground},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2017},
pages={37-44},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006397800370044},
isbn={978-989-758-263-9},
}

TY - CONF

JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Robustness to Inertial Parameter Errors for Legged Robots Balancing on Level Ground
SN - 978-989-758-263-9
AU - Giftsun, N.
AU - Del Prete, A.
AU - Lamiraux, F.
PY - 2017
SP - 37
EP - 44
DO - 10.5220/0006397800370044

Login or register to post comments.

Comments on this Paper: Be the first to review this paper.