Xin, S, You, Y, Zhou, C orcid.org/0000-0002-6677-0855 et al. (2 more authors) (2017) A torque-controlled humanoid robot riding on a two-wheeled mobile platform. In: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2017 IEEE/RSJ (IROS), 24-28 Sep 2017, Vancouver, BC, Canada. IEEE , pp. 1435-1442. ISBN 978-1-5386-2682-5
Abstract
This paper is motivated by the questions: What would happen if a humanoid robot is put on a Segway? Is it possible for the humanoid robot to use this transportation device that is specifically designed for human? Simulation involving a two-wheeled mobile platform (TWMP) and our humanoid robot COMAN (COmpliant HuMANoid Platform) shows that it is indeed feasible without any hardware modification. Regarding the implementation, the full dynamics of the humanoid robot is considered and quadratic optimization is employed to generate whole-body joint torques to realise two types of tasks according to the interaction type between the TWMP and the humanoid robot. The TWMP is considered as unknown disturbance and the humanoid robot has to keep balancing on it in the first type of task. On the contrary, the active movement of the humanoid robot is utilised as an interface to intuitively drive the TWMP in the second type of task. For both tasks, tracking the position of center of mass (CoM) and regulating the angular momentum around it are considered as primary objectives, stabilizing the posture of certain part of its body is optional. In addition, both tasks are repeated on uneven terrain to demonstrate the robustness of the control method.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. |
Keywords: | Humanoid robots; Mobile communication; Torque; Mobile robots; Dynamics |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Mechanical Engineering (Leeds) > Institute of Engineering Systems and Design (iESD) (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 04 Apr 2019 14:13 |
Last Modified: | 14 May 2019 11:38 |
Status: | Published |
Publisher: | IEEE |
Identification Number: | 10.1109/IROS.2017.8205945 |
Related URLs: | |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:144462 |