Multi-contact planning and control for a torque-controlled humanoid robot

Alexander Werner; Bernd Henze; Diego A. Rodriguez; Jonathan Gabaret; Oliver Porges; Máximo A. Roa

IROS 2016poster29 citations

Multi-contact planning and control for a torque-controlled humanoid robot

Alexander Werner, Bernd Henze, Diego A. Rodriguez, Jonathan Gabaret, Oliver Porges, Máximo A. Roa

Abstract

Humanoid robots that need to traverse constrained and uncertain environments require a suitable combination of perception, planning and control. This paper presents an integrated pipeline that allows the robot to autonomously acquire visual information, define step locations, compute feasible multi-contact stances using hands and feet, and generate a motion plan to reach the desired goal even going through different contact states. The execution of the desired path is guaranteed through a passivity-based multi-contact controller. The approach is evaluated in simulations and experiments in different scenarios using the humanoid robot TORO.

BibTeX

@inproceedings{iros2016_multicontactplan,
  title = {Multi-contact planning and control for a torque-controlled humanoid robot},
  author = {Alexander Werner and Bernd Henze and Diego A. Rodriguez and Jonathan Gabaret and Oliver Porges and Máximo A. Roa},
  booktitle = {IROS 2016},
  year = {2016}
}