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Reference TypeConference Paper
Author(s)Herzog, A.;Righetti, L.;Grimminger, F.;Pastor, P.;Schaal, S.
TitleBalancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics
Journal/Conference/Book TitleProceedings of the IEEE International Conference on Intelligent Robotics Systems
Keywordscontact interaction, humanoid robotics, inverse dynamics, torque control, whole body control
AbstractRecently several hierarchical inverse dynamicscontrollers based on cascades of quadratic programs havebeen proposed for application on torque controlled robots.They have important theoretical benefits but have never beenimplemented on a torque controlled robot where model inaccuraciesand real-time computation requirements can beproblematic. In this contribution we present an experimentalevaluation of these algorithms in the context of balance controlfor a humanoid robot. The presented experiments demonstratethe applicability of the approach under real robot conditions(i.e. model uncertainty, estimation errors, etc). We propose asimplification of the optimization problem that allows us todecrease computation time enough to implement it in a fasttorque control loop. We implement a momentum-based balancecontroller which shows robust performance in face of unknowndisturbances, even when the robot is standing on only onefoot. In a second experiment, a tracking task is evaluatedto demonstrate the performance of the controller with morecomplicated hierarchies. Our results show that hierarchicalinverse dynamics controllers can be used for feedback controlof humanoid robots and that momentum-based balance controlcan be efficiently implemented on a real robot.
Place PublishedChicago, IL
Short TitleBalancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics
Custom 3papers3://publication/uuid/A0F7C989-4BE7-4F2B-8FCD-F79C58709504
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