Control of humanoid robot motions with impacts: Numerical experiments with reference spreading control

Mark Rijnen; Eric De Mooij; Silvio Traversaro; Francesco Nori; Nathan Van De Wouw; Alessandro Saccon; Henk Nijmeijer

doi:10.1109/ICRA.2017.7989472

Control of humanoid robot motions with impacts: Numerical experiments with reference spreading control

Mark Rijnen, Eric De Mooij, Silvio Traversaro, Francesco Nori, Nathan Van De Wouw, Alessandro Saccon, Henk Nijmeijer

Team Bart De Schutter

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

21 Citations (Scopus)

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.

Original language	English
Title of host publication	Proceedings 2017 IEEE International Conference on Robotics and Automation (ICRA)
Editors	I-Ming Chen, Yoshihiko Nakamura, Haoyong Yu
Place of Publication	Piscataway, NJ, USA
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	4102-4107
ISBN (Electronic)	978-1-5090-4633-1
DOIs	https://doi.org/10.1109/ICRA.2017.7989472
Publication status	Published - 2017
Event	2017 IEEE International Conference on Robotics and Automation, ICRA 2017: ICRA 2017 - Singapore, Singapore Duration: 29 May 2017 → 3 Jun 2017 http://sssa.bioroboticsinstitute.it/workshops/IC3_icra2017

Conference

Conference	2017 IEEE International Conference on Robotics and Automation, ICRA 2017
Abbreviated title	ICRA 2017
Country/Territory	Singapore
City	Singapore
Period	29/05/17 → 3/06/17
Internet address	http://sssa.bioroboticsinstitute.it/workshops/IC3_icra2017

Keywords

humanoid robots
trajectory
dynamics
tracking
monitoring

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10.1109/ICRA.2017.7989472

Cite this

Rijnen, M., De Mooij, E., Traversaro, S., Nori, F., Van De Wouw, N., Saccon, A., & Nijmeijer, H. (2017). Control of humanoid robot motions with impacts: Numerical experiments with reference spreading control. In I.-M. Chen, Y. Nakamura, & H. Yu (Eds.), Proceedings 2017 IEEE International Conference on Robotics and Automation (ICRA) (pp. 4102-4107). Article 7989472 Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/ICRA.2017.7989472

Rijnen, Mark ; De Mooij, Eric ; Traversaro, Silvio et al. / Control of humanoid robot motions with impacts : Numerical experiments with reference spreading control. Proceedings 2017 IEEE International Conference on Robotics and Automation (ICRA). editor / I-Ming Chen ; Yoshihiko Nakamura ; Haoyong Yu. Piscataway, NJ, USA : Institute of Electrical and Electronics Engineers (IEEE), 2017. pp. 4102-4107

@inproceedings{3938dc5e69e74f6eaf5b14e48864bb2c,

title = "Control of humanoid robot motions with impacts: Numerical experiments with reference spreading control",

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.",

keywords = "humanoid robots, trajectory, dynamics, tracking, monitoring",

author = "Mark Rijnen and {De Mooij}, Eric and Silvio Traversaro and Francesco Nori and {Van De Wouw}, Nathan and Alessandro Saccon and Henk Nijmeijer",

year = "2017",

doi = "10.1109/ICRA.2017.7989472",

language = "English",

pages = "4102--4107",

editor = "I-Ming Chen and Yoshihiko Nakamura and Haoyong Yu",

booktitle = "Proceedings 2017 IEEE International Conference on Robotics and Automation (ICRA)",

publisher = "Institute of Electrical and Electronics Engineers (IEEE)",

address = "United States",

note = "2017 IEEE International Conference on Robotics and Automation, ICRA 2017 : ICRA 2017, ICRA 2017 ; Conference date: 29-05-2017 Through 03-06-2017",

url = "http://sssa.bioroboticsinstitute.it/workshops/IC3_icra2017",

}

Rijnen, M, De Mooij, E, Traversaro, S, Nori, F, Van De Wouw, N, Saccon, A & Nijmeijer, H 2017, Control of humanoid robot motions with impacts: Numerical experiments with reference spreading control. in I-M Chen, Y Nakamura & H Yu (eds), Proceedings 2017 IEEE International Conference on Robotics and Automation (ICRA)., 7989472, Institute of Electrical and Electronics Engineers (IEEE), Piscataway, NJ, USA, pp. 4102-4107, 2017 IEEE International Conference on Robotics and Automation, ICRA 2017, Singapore, Singapore, 29/05/17. https://doi.org/10.1109/ICRA.2017.7989472

Control of humanoid robot motions with impacts: Numerical experiments with reference spreading control. / Rijnen, Mark; De Mooij, Eric; Traversaro, Silvio et al.
Proceedings 2017 IEEE International Conference on Robotics and Automation (ICRA). ed. / I-Ming Chen; Yoshihiko Nakamura; Haoyong Yu. Piscataway, NJ, USA: Institute of Electrical and Electronics Engineers (IEEE), 2017. p. 4102-4107 7989472.

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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T1 - Control of humanoid robot motions with impacts

T2 - 2017 IEEE International Conference on Robotics and Automation, ICRA 2017

AU - Rijnen, Mark

AU - De Mooij, Eric

AU - Traversaro, Silvio

AU - Nori, Francesco

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AU - Saccon, Alessandro

AU - Nijmeijer, Henk

PY - 2017

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AB - 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.

KW - humanoid robots

KW - trajectory

KW - dynamics

KW - tracking

KW - monitoring

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BT - Proceedings 2017 IEEE International Conference on Robotics and Automation (ICRA)

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Rijnen M, De Mooij E, Traversaro S, Nori F, Van De Wouw N, Saccon A et al. Control of humanoid robot motions with impacts: Numerical experiments with reference spreading control. In Chen IM, Nakamura Y, Yu H, editors, Proceedings 2017 IEEE International Conference on Robotics and Automation (ICRA). Piscataway, NJ, USA: Institute of Electrical and Electronics Engineers (IEEE). 2017. p. 4102-4107. 7989472 doi: 10.1109/ICRA.2017.7989472

Control of humanoid robot motions with impacts: Numerical experiments with reference spreading control

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