4.7 Article

Humanoid Motion Control by Compliance Optimization Explicitly Considering its Positive Definiteness

Related references

Note: Only part of the references are listed.
Proceedings Paper Robotics

Compliance Optimization Considering Dynamics for Whole-Body Control of a Humanoid

Ko Yamamoto et al.

Summary: This paper discusses an optimization method called resolved viscoelasticity control (RVC) for stable and robust control of a humanoid robot by considering both statics and dynamics. The proposed method resolves the virtual viscoelasticity at the center of gravity into joint viscoelasticity, taking into account the redundant degrees of freedom. By extending the previous work on RVC and comparing it with the control method based on operational space formulation, the authors demonstrate the effectiveness of their approach through forward dynamics simulations.

ROBOTICS RESEARCH: THE 19TH INTERNATIONAL SYMPOSIUM ISRR (2022)

Article Robotics

Whole-Body Compliant Motion by Sensor Integration of an EHA-Driven Humanoid Hydra

Tianyi Ko et al.

Summary: This study investigates the performance and challenges of bipedal robots driven by EHA in gait movement, and develops a whole-body control system to achieve overall control performance. The effectiveness of RVC was experimentally confirmed, and challenges in implementing compliant control in real hardware were reported.

INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS (2021)

Article Robotics

Foot-guided control of a biped robot through ZMP manipulation

T. Yamamoto et al.

ADVANCED ROBOTICS (2020)

Proceedings Paper Robotics

Experimental Validation of Resolved Viscoelasticity Control on Hydrostatically Driven Humanoid Hydra

Ko Yamamoto et al.

PROCEEDINGS OF THE 2018 INTERNATIONAL SYMPOSIUM ON EXPERIMENTAL ROBOTICS (2020)

Proceedings Paper Automation & Control Systems

Resolved Viscoelasticity Control Considering Singularity for Knee-stretched Walking of a Humanoid

Kazuya Murotani et al.

2019 INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) (2019)

Article Robotics

A Geometric Algorithm for Robust Multibody Inertial Parameter Identification

Taeyoon Lee et al.

IEEE ROBOTICS AND AUTOMATION LETTERS (2018)

Article Automation & Control Systems

Prioritized multi-task compliance control of redundant manipulators

Christian Ott et al.

AUTOMATICA (2015)

Article Robotics

Hierarchical quadratic programming: Fast online humanoid-robot motion generation

Adrien Escande et al.

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH (2014)

Proceedings Paper Automation & Control Systems

Generation of Dynamic Humanoid Behaviors Through Task-Space Control with Conic Optimization

Patrick M. Wensing et al.

2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) (2013)

Article Robotics

Compliant Control of Multicontact and Center-of-Mass Behaviors in Humanoid Robots

Luis Sentis et al.

IEEE TRANSACTIONS ON ROBOTICS (2010)

Article Robotics

A Unified Approach to Integrate Unilateral Constraints in the Stack of Tasks

Nicolas Mansard et al.

IEEE TRANSACTIONS ON ROBOTICS (2009)

Article Robotics

Operational space control: A theoretical and empirical comparison

Jun Nakanishi et al.

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH (2008)

Article Automation & Control Systems

Hardware design of high performance miniature anthropomorphic robots

Tomomichi Sugihara et al.

ROBOTICS AND AUTONOMOUS SYSTEMS (2008)