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Humanoid push recovery control in case of multiple non-coplanar contacts

D. Mansour 1 A. Micaelli 1 P. Lemerle 2
1 DIASI - Département Intelligence Ambiante et Systèmes Interactifs
2 INRS ( Vandoeuvre lès Nancy) - Institut national de recherche et de sécurité (Vandoeuvre lès Nancy)
Abstract : This paper presents a method for humanoid push recovery in the general context of multiple non-coplanar contacts. The method consists of a controller that minimizes the kinetic energy of a perturbed whole body humanoid system, while controlling the support change to achieve the stabilization (or push recovery) of the system. The controller uses a simple model based approach to determine the necessity of support change and in this case to approximate a new contact position that allows to stabilize the system. The controller is tested on a simulated humanoid robot and it succeeds in stabilizing the robot in coplanar and non-coplanar environments.
Keywords : Whole body Anthropomorphic robots Intelligent robots Kinetics Recovery Controllers Simple modeling Push recoveries Non-coplanar Humanoid robot Contact position
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Conference papers
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https://hal-cea.archives-ouvertes.fr/cea-01813734
Contributor : Léna Le Roy <>
Submitted on : Tuesday, June 12, 2018 - 3:30:55 PM
Last modification on : Monday, February 10, 2020 - 6:13:48 PM

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D. Mansour, A. Micaelli, P. Lemerle. Humanoid push recovery control in case of multiple non-coplanar contacts. IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013, 2013, Tokyo, Japan. pp.4137-4144, ⟨10.1109/IROS.2013.6696949⟩. ⟨cea-01813734⟩

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