Control of humanoid robot motions with impacts

Numerical experiments with reference spreading control

Conference paper (2017)

Authors

Mark Rijnen Eindhoven University of Technology
Eric De Mooij Eindhoven University of Technology
Silvio Traversaro Istituto Italiano di Tecnologia
Francesco Nori Istituto Italiano di Tecnologia
N. van de Wouw Eindhoven University of Technology,
Alessandro Saccon Eindhoven University of Technology
H. Nijmeijer Eindhoven University of Technology
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Published Date

2017

Language

English

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Abstract

This work explores the stabilization of desired dynamic motion tasks involving hard impacts at non-negligible speed for humanoid robots. To this end, a so-called reference spreading hybrid control law is designed showing promising results in simulation. The simulations are performed employing a dynamical model of an existing humanoid robot and impacts are assumed to be inelastic. The desired motion task consists of having the robot balancing on one foot while repeatedly making and breaking contact with a wall by means of one hand. The simulation results illustrate that the considered controller is suited to control humanoid robot motions with impacts.

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