Difference between revisions of "Publications:Experiments with Balancing on Irregular Terrains using the Dreamer Mobile Humanoid Robot"
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| − | |Name=Sentis, Luis (University of Texas at Austin, Austin, Texas, United States) (Human-Centered Robotics Lab);Petersen, Joshua George (University of Texas at Austin, Austin, Texas, United States) (Human-Centered Robotics Lab);Philippsen, Roland | + | |Name=Sentis, Luis (University of Texas at Austin, Austin, Texas, United States) (Human-Centered Robotics Lab);Petersen, Joshua George (University of Texas at Austin, Austin, Texas, United States) (Human-Centered Robotics Lab);Philippsen, Roland (rolphi) (0000-0003-3513-8854) (Högskolan i Halmstad (2804), Sektionen för Informationsvetenskap, Data– och Elektroteknik (IDE) (3905), Halmstad Embedded and Intelligent Systems Research (EIS) (3938), Laboratoriet för intelligenta system (6703)) |
|Title=Experiments with Balancing on Irregular Terrains using the Dreamer Mobile Humanoid Robot | |Title=Experiments with Balancing on Irregular Terrains using the Dreamer Mobile Humanoid Robot | ||
|PublicationType=Conference Paper | |PublicationType=Conference Paper | ||
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| − | |Conference=Robotics: Science and Systems VIII | + | |Conference=Robotics: Science and Systems VIII, University of Sydney, Sydney, NSW, Australia, July 09-13, 2012 |
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| − | |Abstract=<p>We investigate controllers for mobile | + | |Abstract=<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> |
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|CreatedDate=2012-04-24 | |CreatedDate=2012-04-24 | ||
|PublicationDate=2012-09-16 | |PublicationDate=2012-09-16 | ||
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|diva=http://hh.diva-portal.org/smash/record.jsf?searchId=1&pid=diva2:552741}} | |diva=http://hh.diva-portal.org/smash/record.jsf?searchId=1&pid=diva2:552741}} | ||
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Latest revision as of 21:41, 30 September 2016
| Title | Experiments with Balancing on Irregular Terrains using the Dreamer Mobile Humanoid Robot |
|---|---|
| Author | Luis Sentis and Joshua George Petersen and Roland Philippsen |
| Year | 2012 |
| PublicationType | Conference Paper |
| Journal | |
| HostPublication | |
| Conference | Robotics: Science and Systems VIII, University of Sydney, Sydney, NSW, Australia, July 09-13, 2012 |
| DOI | |
| Diva url | http://hh.diva-portal.org/smash/record.jsf?searchId=1&pid=diva2:552741 |
| Abstract | 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.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. |
