Momentum-based Balance Control for Torque-controlled Humanoids

In this contribution we propose a reformulation of a momentum-based balance controller originally proposed by Lee and Goswami. The advantage of our formulation is that we can guarantee that the control will satisfy any constraint in contact forces, joint accelerations and torque commands. Moreover, the formulation leads to an interesting insight into how equations of motion can be decoupled to significantly simplify the design of controllers based on the full robot dynamics. Finally, we present balancing experiments on a torque controlled humanoid robot. To the best of our knowledge, it is the first time that this momentum-based balance controller is implemented on a real robot, using a pure torque control approach.

[1]  Pierre-Brice Wieber,et al.  Holonomy and Nonholonomy in the Dynamics of Articulated Motion , 2006 .

[2]  Gordon Cheng,et al.  Full-Body Compliant Human–Humanoid Interaction: Balancing in the Presence of Unknown External Forces , 2007, IEEE Transactions on Robotics.

[3]  David E. Orin,et al.  Centroidal Momentum Matrix of a humanoid robot: Structure and properties , 2008, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[4]  Jun Morimoto,et al.  CB: Exploring neuroscience with a humanoid research platform , 2008, 2008 IEEE International Conference on Robotics and Automation.

[5]  Stefan Schaal,et al.  Inertial parameter estimation of floating base humanoid systems using partial force sensing , 2009, 2009 9th IEEE-RAS International Conference on Humanoid Robots.

[6]  Christopher G. Atkeson,et al.  Dynamic Balance Force Control for compliant humanoid robots , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[7]  Sung-Hee Lee,et al.  Ground reaction force control at each foot: A momentum-based humanoid balance controller for non-level and non-stationary ground , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[8]  Vincent Padois,et al.  Synthesis of complex humanoid whole-body behavior: A focus on sequencing and tasks transitions , 2011, 2011 IEEE International Conference on Robotics and Automation.

[9]  Nicolas Mansard,et al.  Generic dynamic motion generation with multiple unilateral constraints , 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[10]  Stefan Schaal,et al.  Learning, planning, and control for quadruped locomotion over challenging terrain , 2011, Int. J. Robotics Res..

[11]  Gerd Hirzinger,et al.  Posture and balance control for biped robots based on contact force optimization , 2011, 2011 11th IEEE-RAS International Conference on Humanoid Robots.

[12]  Darwin G. Caldwell,et al.  On the role of load motion compensation in high-performance force control , 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[13]  Twan Koolen,et al.  Capturability-based analysis and control of legged locomotion, Part 2: Application to M2V2, a lower-body humanoid , 2012, Int. J. Robotics Res..

[14]  Roland Siegwart,et al.  Hybrid Operational Space Control for Compliant Legged Systems , 2012, RSS 2012.

[15]  Masayuki Inaba,et al.  Online walking pattern generation for push recovery and minimum delay to commanded change of direction and speed , 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[16]  Sung-Hee Lee,et al.  A momentum-based balance controller for humanoid robots on non-level and non-stationary ground , 2012, Auton. Robots.

[17]  Darwin G. Caldwell,et al.  Dynamic torque control of a hydraulic quadruped robot , 2012, 2012 IEEE International Conference on Robotics and Automation.

[18]  Stefan Schaal,et al.  Quadratic programming for inverse dynamics with optimal distribution of contact forces , 2012, 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012).

[19]  Stefan Schaal,et al.  Optimal distribution of contact forces with inverse-dynamics control , 2013, Int. J. Robotics Res..