國立高雄大學圖資館 |

登入

回首頁

Whole-body control for multi-contact balancing of humanoid robotsdesign and experiments /

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Whole-body control for multi-contact balancing of humanoid robotsby Bernd Henze.
其他題名:	design and experiments /
作者:	Henze, Bernd.
出版者:	Cham :Springer International Publishing :2022.
面頁冊數:	xvi, 199 p. :ill., digital ;24 cm.
Contained By:	Springer Nature eBook
標題:	RobotsControl systems.
電子資源:	https://doi.org/10.1007/978-3-030-87212-0
ISBN:	9783030872120$q(electronic bk.)

Whole-body control for multi-contact balancing of humanoid robotsdesign and experiments /
Henze, Bernd.

Whole-body control for multi-contact balancing of humanoid robotsdesign and experiments /[electronic resource] :by Bernd Henze. - Cham :Springer International Publishing :2022. - xvi, 199 p. :ill., digital ;24 cm. - Springer tracts in advanced robotics,v. 1431610-742X ;. - Springer tracts in advanced robotics ;v. 13.

Introduction -- Notation -- Modeling -- Cartesian Compliance -- Torque-Controlled Humanoid Robot TORO -- Whole-Body Control for Multi-Contact Balancing -- Combining Multi-Contact Balancing with Hierarchical Whole-Body Control -- Balance Control based on Reduced Dynamic Models -- Applications -- Discussion and Conclusion.

This book aims at providing algorithms for balance control of legged, torque-controlled humanoid robots. A humanoid robot normally uses the feet for locomotion. This paradigm is extended by addressing the challenge of multi-contact balancing, which allows a humanoid robot to exploit an arbitrary number of contacts for support. Using multiple contacts increases the size of the support polygon, which in turn leads to an increased robustness of the stance and to an increased kinematic workspace of the robot. Both are important features for facilitating a transition of humanoid robots from research laboratories to real-world applications, where they are confronted with multiple challenging scenarios, such as climbing stairs and ladders, traversing debris, handling heavy loads, or working in confined spaces. The distribution of forces and torques among the multiple contacts is a challenging aspect of the problem, which arises from the closed kinematic chain given by the robot and its environment.

ISBN: 9783030872120$q(electronic bk.)

Standard No.: 10.1007/978-3-030-87212-0doiSubjects--Topical Terms:

182098
Robots
--Control systems.

LC Class. No.: TJ211.35 / .H45 2022

Dewey Class. No.: 629.892

Whole-body control for multi-contact balancing of humanoid robotsdesign and experiments /
LDR:02464nmm a2200349 a 4500 001 618235
003 DE-He213
005 20211103100805.0
006 m d
007 cr nn 008maaau
008 221025s2022 sz s 0 eng d
020 $a 9783030872120$q(electronic bk.)
020 $a 9783030872113$q(paper)
024 7 $a 10.1007/978-3-030-87212-0 $2 doi
035 $a 978-3-030-87212-0
040 $a GP $c GP
041 0 $a eng
050 4 $a TJ211.35 $b .H45 2022
072 7 $a TJFM $2 bicssc
072 7 $a TEC004000 $2 bisacsh
072 7 $a TJFM $2 thema
072 7 $a TJFD $2 thema
082 0 4 $a 629.892 $2 23
090 $a TJ211.35 $b .H528 2022
100 1 $a Henze, Bernd. $3 917808
245 1 0 $a Whole-body control for multi-contact balancing of humanoid robots $h [electronic resource] : $b design and experiments / $c by Bernd Henze.
260 $a Cham : $b Springer International Publishing : $b Imprint: Springer, $c 2022.
300 $a xvi, 199 p. : $b ill., digital ; $c 24 cm.
490 1 $a Springer tracts in advanced robotics, $x 1610-742X ; $v v. 143
505 0 $a Introduction -- Notation -- Modeling -- Cartesian Compliance -- Torque-Controlled Humanoid Robot TORO -- Whole-Body Control for Multi-Contact Balancing -- Combining Multi-Contact Balancing with Hierarchical Whole-Body Control -- Balance Control based on Reduced Dynamic Models -- Applications -- Discussion and Conclusion.
520 $a This book aims at providing algorithms for balance control of legged, torque-controlled humanoid robots. A humanoid robot normally uses the feet for locomotion. This paradigm is extended by addressing the challenge of multi-contact balancing, which allows a humanoid robot to exploit an arbitrary number of contacts for support. Using multiple contacts increases the size of the support polygon, which in turn leads to an increased robustness of the stance and to an increased kinematic workspace of the robot. Both are important features for facilitating a transition of humanoid robots from research laboratories to real-world applications, where they are confronted with multiple challenging scenarios, such as climbing stairs and ladders, traversing debris, handling heavy loads, or working in confined spaces. The distribution of forces and torques among the multiple contacts is a challenging aspect of the problem, which arises from the closed kinematic chain given by the robot and its environment.
650 0 $a Robots $x Control systems. $3 182098
650 0 $a Androids. $3 192377
650 1 4 $a Control, Robotics, Mechatronics. $3 339147
650 2 4 $a Control and Systems Theory. $3 825946
650 2 4 $a Robotics. $3 181952
710 2 $a SpringerLink (Online service) $3 273601
773 0 $t Springer Nature eBook
830 0 $a Springer tracts in advanced robotics ; $v v. 13 $3 452791
856 4 0 $u https://doi.org/10.1007/978-3-030-87212-0
950 $a Intelligent Technologies and Robotics (SpringerNature-42732)