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

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Robotics Research (ISRR 2019)

Part of the book series: Springer Proceedings in Advanced Robotics ((SPAR,volume 20))

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Abstract

This paper discusses an optimization method of the whole-body compliance for stable and robust control of a humanoid robot. In a previous study, one of the authors proposed resolving the virtual viscoelasticity at the center of gravity into the joint viscoelasticity, considering the redundant degrees of freedom, and named this method as resolved viscoelasticity control (RVC). However, the author considered only the relationship based on statics. In this study, the authors extend the previous work on the RVC by considering dynamics. This extension helps to realize stable and robust balancing. We also provide a comparison between the RVC and the control method based on the operational space formulation. The proposed method is validated using forward dynamics simulations.

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Acknowledgment

This work was supported by JSPS KAKENHI Grant Number 18K19802.

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Authors and Affiliations

  1. University of Tokyo, Hongo 7-3-1, Bunkyo-ku, Tokyo, Japan

    Ko Yamamoto & Yoshihiko Nakamura

Authors
  1. Ko Yamamoto
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  2. Yoshihiko Nakamura
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Corresponding author

Correspondence to Ko Yamamoto .

Editor information

Editors and Affiliations

  1. Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Baden-Württemberg, Germany

    Tamim Asfour

  2. Department of Information Technology and Human Factors, National Institute of Advanced Industrial Science and Technology, Tsukuba, Japan

    Eiichi Yoshida

  3. Seoul National University, Seoul, Korea (Republic of)

    Jaeheung Park

  4. Jacobs School of Engineering, Institute for Contextual Robotics, San Diego, CA, USA

    Henrik Christensen

  5. Department of Computer Science, Stanford University, Stanford, CA, USA

    Oussama Khatib

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Yamamoto, K., Nakamura, Y. (2022). Compliance Optimization Considering Dynamics for Whole-Body Control of a Humanoid. In: Asfour, T., Yoshida, E., Park, J., Christensen, H., Khatib, O. (eds) Robotics Research. ISRR 2019. Springer Proceedings in Advanced Robotics, vol 20. Springer, Cham. https://doi.org/10.1007/978-3-030-95459-8_54

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