| 书目名称 | Whole-Body Control for Multi-Contact Balancing of Humanoid Robots | | 副标题 | Design and Experimen | | 编辑 | Bernd Henze | | 视频video | | | 概述 | Provides novel algorithms for balance control of legged, torque-controlled humanoid robots.Addresses challenge of multi-contact balancing, which allows a humanoid robot.Is winner of the George Giralt | | 丛书名称 | Springer Tracts in Advanced Robotics | | 图书封面 |  | | 描述 | .This book aims at providing algorithms for balance control of legged, torque-controlled humanoid robots. A humanoid robot normally uses the feet for locomotion. This paradigm is extended by addressing the challenge of multi-contact balancing, which allows a humanoid robot to exploit an arbitrary number of contacts for support. Using multiple contacts increases the size of the support polygon, which in turn leads to an increased robustness of the stance and to an increased kinematic workspace of the robot. Both are important features for facilitating a transition of humanoid robots from research laboratories to real-world applications, where they are confronted with multiple challenging scenarios, such as climbing stairs and ladders, traversing debris, handling heavy loads, or working in confined spaces. The distribution of forces and torques among the multiple contacts is a challenging aspect of the problem, which arises from the closed kinematic chain given by the robot and its environment.. | | 出版日期 | Book 2022 | | 关键词 | Advanced Robotics; Humanoid Robot; Whole-Body Control; Balance Control; Multi-Contact Balancing | | 版次 | 1 | | doi | https://doi.org/10.1007/978-3-030-87212-0 | | isbn_softcover | 978-3-030-87214-4 | | isbn_ebook | 978-3-030-87212-0Series ISSN 1610-7438 Series E-ISSN 1610-742X | | issn_series | 1610-7438 | | copyright | The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerl |
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发表于 2025-3-21 19:42:19
