6 accepted papers
In this letter, we propose a controller for legged robots that takes into account the individual contact compliance. This controller is able to achieve both balance stabilization and force control in the same loop in task space thanks to the use of an explicit contact flexibility model and simplifie
In this paper we report the safety-oriented framework for controlling the torque in the case of robots with high reduction gears and having no joint torque feedback. This kind of robots suffer from high joint friction and low backdrivability, requiring high gains and integral feedback, which can be…
In this letter, we present an observation scheme, with proven Lyapunov stability, for estimating a humanoid's floating base orientation. The idea is to use velocity aided attitude estimation, which requires to know the velocity of the system. This velocity can be obtained by taking into account the
The simulation of static friction, and especially the effect of stiction, is cumbersome to perform in discrete-time due to its discontinuity at zero velocity and its switching behavior. However, it is essential to achieve reliable simulations of friction to develop compliant torque control algorithm…
This paper focuses on a stabilization control for multi-contact motion which enables a humanoid robot to locomote by realizing dynamic contact transitions on non-flat environment. In the stabilization process of the multi-contact motion, the desired Zero-Moment Point (ZMP) is modified by the positio…
We propose a control framework for torque controlled humanoid robots that efficiently minimizes the tracking error in a Quadratic Programming (QP)formulated as multiobjective weighted tasks with constraints. It results in an optimal dynamically-feasible reference that can be tracked robustly, with e…