Whole Body Control for Multi Contact Balancing of Humanoid Robots is popular PDF and ePub book, written by Bernd Henze in 2021-11-03, it is a fantastic choice for those who relish reading online the Technology & Engineering genre. Let's immerse ourselves in this engaging Technology & Engineering book by exploring the summary and details provided below. Remember, Whole Body Control for Multi Contact Balancing of Humanoid Robots can be Read Online from any device for your convenience.
Whole Body Control for Multi Contact Balancing of Humanoid Robots Book PDF Summary
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.
Detail Book of Whole Body Control for Multi Contact Balancing of Humanoid Robots PDF
- Author : Bernd Henze
- Release : 03 November 2021
- Publisher : Springer Nature
- ISBN : 9783030872120
- Genre : Technology & Engineering
- Total Page : 209 pages
- Language : English
- PDF File Size : 10,9 Mb
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