Push Recovery by stepping for humanoid robots with force controlled joints

@article{Stephens2010PushRB,
  title={Push Recovery by stepping for humanoid robots with force controlled joints},
  author={Benjamin J. Stephens and Christopher G. Atkeson},
  journal={2010 10th IEEE-RAS International Conference on Humanoid Robots},
  year={2010},
  pages={52-59}
}
  • B. Stephens, C. Atkeson
  • Published 1 December 2010
  • Engineering
  • 2010 10th IEEE-RAS International Conference on Humanoid Robots
In order to interact with human environments, humanoid robots require safe and compliant control which can be achieved through force-controlled joints. In this paper, full body step recovery control for robots with force-controlled joints is achieved by adding model-based feed-forward controls. Push Recovery Model Predictive Control (PR-MPC) is presented as a method for generating full-body step recovery motions after a large disturbance. Results are presented from experiments on the Sarcos… 
Push Recovery of a Position-Controlled Humanoid Robot Based on Capture Point Feedback Control
TLDR
A simple and practical push recovery controller is designed which can be implemented on the most of the conventional humanoid robots without the need for torque sensors.
Bipedal robot push recovery control mimicking human reaction
TLDR
The proposed push-recovery system based on preview control trajectory generator has been realized on the bipedal robot developed in the NTU-iCeiRA lab.
Humanoid push recovery control in case of multiple non-coplanar contacts
TLDR
The method consists of a controller that minimizes the kinetic energy of a perturbed whole body humanoid system, while controlling the support change to achieve the stabilization (or push recovery) of the system.
Humanoid push recovery with robust convex synthesis
  • Jiuguang Wang
  • Computer Science
    2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
  • 2012
TLDR
By formulating the simultaneous search for a controller and the associated domain of attraction as a single problem, this work provides a unified framework in which full-body push recovery controllers can be designed and their performance analyzed.
Multi-step recovery strategy for humanoid robots using model predictive control
TLDR
A control framework that determines the necessary actuated joint forces and footsteps in order to balance humanoid robots is introduced and the performance is validated with simulation results.
Push Recovery and Active Balancing for Inexpensive Humanoid Robots Using RL and DRL
TLDR
This research has proposed a push recovery mechanism that employs two machine learning techniques, Reinforcement Learning and Deep Reinforcement learning, to learn recovery step trajectories during push recovery using a closed-loop feedback control.
An estimation model for footstep modifications of biped robots
TLDR
A three-mass model with two degrees of freedom is approximate to predict the robot's behavior and calculate compensating motions for different disturbance cases and it is possible to integrate the estimation results into the real-time control system of the biped LOLA.
Standing Balance Control for Position Control-Based Humanoid Robot
TLDR
Experiments and related data show the humanoid robot “KONG” has perfect balance performance for various external force disturbances.
Predictive Whole-Body Control of Humanoid Robot Locomotion
TLDR
This thesis tackles several aspects of the humanoid robot locomotion problem in a crescendo of complexity, and considers the single step push recovery problem, and generates and stabilize walking motions.
Closed-loop push recovery for inexpensive humanoid robots
TLDR
This work describes a closed-loop feedback control method that uses an accelerometer and gyroscope to allow an inexpensive humanoid robot to actively balance while walking and recover from pushes.
...
...

References

SHOWING 1-10 OF 19 REFERENCES
Dynamic Balance Force Control for compliant humanoid robots
  • B. Stephens, C. Atkeson
  • Engineering
    2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
  • 2010
TLDR
A model-based method, called Dynamic Balance Force Control, for determining full body joint torques based on desired COM motion and contact forces for compliant humanoid robots, and a virtual model controller, DBFC-VMC, is presented.
Humanoid push recovery
  • B. Stephens
  • Biology
    2007 7th IEEE-RAS International Conference on Humanoid Robots
  • 2007
TLDR
Using these simple models, analytic decision surfaces that are functions of reference points, such as the center of mass and center of pressure, that predict whether or not a fall is inevitable are developed.
Full-Body Compliant Human–Humanoid Interaction: Balancing in the Presence of Unknown External Forces
TLDR
The importance of replicating human-like capabilities and responses during human-robot interaction in this context is described, including compliant balance, even when affected by unknown external forces, which demonstrates the effectiveness of the method.
A control method for dynamic biped walking under unknown external force
TLDR
The result shows that the WL-12RIII realized a 0.64(s/step) dynamic stepping motion under an unknown external force which was rectangular and acting backward on its waist.
Inverse dynamics control of floating base systems using orthogonal decomposition
TLDR
This paper shows how to compute the analytically correct inverse dynamics torques for model-based control of sufficiently constrained floating base rigid-body systems, such as humanoid robots with one or two feet in contact with the environment.
Proposal of biped walking control based on robust hybrid position/force control
  • Y. Fujimoto, A. Kawamura
  • Engineering
    Proceedings of IEEE International Conference on Robotics and Automation
  • 1996
TLDR
A hierarchical control is proposed by which the legged locomotion can be realized by using the 19 axes simulation model and the results of stable walking are shown.
Trajectory Free Linear Model Predictive Control for Stable Walking in the Presence of Strong Perturbations
  • Pierre-Brice Wieber
  • Engineering
    2006 6th IEEE-RAS International Conference on Humanoid Robots
  • 2006
TLDR
This work focuses on the problem of compensating strong perturbations of the dynamics of the robot and proposes a new linear model predictive control scheme which is an improvement of the original ZMP preview control scheme.
Footstep Planning for the Honda ASIMO Humanoid
TLDR
A footstep planner for the Honda ASIMO humanoid robot is presented that plans a sequence of footstep positions to navigate toward a goal location while avoiding obstacles.
Online walking gait generation with adaptive foot positioning through Linear Model Predictive control
TLDR
It is shown that it is possible to allow on top of that a continuous adaptation of the positions of the foot steps, allowing the generation of stable walking gaits even in the presence of strong perturbations.
Capture Point: A Step toward Humanoid Push Recovery
TLDR
The well-known linear inverted pendulum model is extended to include a flywheel body and it is shown how to compute exact solutions of the capture region for this model, the region on the ground where a humanoid must step to in order to come to a complete stop.
...
...