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The success of robots in real-world environments is largely dependent on their ability to interact with both humans and said environment. The FP7 EU project CoDyCo focused on the latter of these two challenges by exploiting both rigid and compliant contacts dynamics in the robot control problem. Regarding the former, to properly manage interaction dynamics on the robot control side, an estimation...
Humanoid robots may require a degree of compliance at joint level for improving efficiency, shock tolerance, and safe interaction with humans. The presence of joint elasticity, however, complexifies the control design of humanoid robots. This paper proposes a control framework to extend momentum based controllers developed for stiff actuation to the case of series elastic actuators. The key point...
This paper proposes a technique for automatic gain tuning of a momentum based balancing controller for humanoid robots. The controller ensures the stabilization of the centroidal dynamics and the associated zero dynamics. Then, the closed-loop, constrained joint space dynamics is linearized and the controller's gains are chosen so as to obtain desired properties of the linearized system. Symmetry...
Envisioned applications for humanoid robots call for the design of balancing and walking controllers. While promising results have been recently achieved, robust and reliable controllers are still a challenge for the control community dealing with humanoid robotics. Momentum-based strategies have proven their effectiveness for controlling humanoids balancing, but the stability analysis of these controllers...
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