| Abstract
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<p>We investigate controllers for mo … <p>We investigate controllers for mobile humanoid robots that maneuver in irregular terrains while performing accurate physical interactions with the environment and with human operators and test them on Dreamer, our new robot with a humanoid upper body (torso, arm, head) and a holonomic mobile base (triangularly arranged Omni wheels). All its actuators are torque controlled, and the upper body provides redundant degrees of freedom. We developed new dynamical models and created controllers that stabilize the robot in the presence of slope variations, while it compliantly interacts with humans.</p><p>This paper considers underactuated free-body dynamics with contact constraints between the wheels and the terrain. Moreover, Dreamer incorporates a biarticular mechanical transmission that we model as a force constraint. Using these tools, we develop new compliant multiobjective skills and include self-motion stabilization for the highly redundant robot.</p> for the highly redundant robot.</p>
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| Author
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Luis Sentis +
, Joshua George Petersen +
, Roland Philippsen +
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| Conference
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Robotics: Science and Systems VIII, University of Sydney, Sydney, NSW, Australia, July 09-13, 2012
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| Diva
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http://hh.diva-portal.org/smash/record.jsf?searchId=1&pid=diva2:552741
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| PublicationType
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Conference Paper +
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| Title
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Experiments with Balancing on Irregular Terrains using the Dreamer Mobile Humanoid Robot +
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| Year
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2012 +
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| Has queryThis property is a special property in this wiki.
|
Publications:Experiments with Balancing on Irregular Terrains using the Dreamer Mobile Humanoid Robot +
, Publications:Experiments with Balancing on Irregular Terrains using the Dreamer Mobile Humanoid Robot +
, Publications:Experiments with Balancing on Irregular Terrains using the Dreamer Mobile Humanoid Robot +
, Publications:Experiments with Balancing on Irregular Terrains using the Dreamer Mobile Humanoid Robot +
, Publications:Experiments with Balancing on Irregular Terrains using the Dreamer Mobile Humanoid Robot +
, Publications:Experiments with Balancing on Irregular Terrains using the Dreamer Mobile Humanoid Robot +
, Publications:Experiments with Balancing on Irregular Terrains using the Dreamer Mobile Humanoid Robot +
, Publications:Experiments with Balancing on Irregular Terrains using the Dreamer Mobile Humanoid Robot +
, Publications:Experiments with Balancing on Irregular Terrains using the Dreamer Mobile Humanoid Robot +
, Publications:Experiments with Balancing on Irregular Terrains using the Dreamer Mobile Humanoid Robot +
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| Categories |
Publication +
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| Modification dateThis property is a special property in this wiki.
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30 September 2016 20:41:33 +
|
