PREVIEWED IMPEDANCE ADAPTATION TO COORDINATE UPPER-LIMB TRAJECTORY TRACKING AND POSTURAL BALANCE IN DISTURBED CONDITIONS

Aurélien Ibanez (1) , Philippe Bidaud (1, 2) , Vincent Padois (1)

1 ISIR - Institut des Systèmes Intelligents et de Robotique
2 SYROCO - Systèmes robotiques Conception et Commande

This paper proposes a preview control method for the whole-body motion of humanoid robots ensuring high performance in both interaction and postural balance tasks under large physical perturbations. By previewing the reduced coupled models of upper-limb interaction and postural balance dynamics, the proposed controller adapts simultaneously the impedance of the arms and the center of mass trajectory with respect to known external perturbations. Here, we show how the ZMP preview control formulation can be extended to account for disturbances resulting from the interacting arms dynamics of which control parameters are adapted online in order to maximize both interaction and balance performances over a preview horizon. The validity of this formulation is assessed through simulation considering a force applied at the humanoid hand level when it is walking.

Domaines: Robotique [cs.RO]; Automatique / Robotique

Aurélien Ibanez, Philippe Bidaud, Vincent Padois. PREVIEWED IMPEDANCE ADAPTATION TO COORDINATE UPPER-LIMB TRAJECTORY TRACKING AND POSTURAL BALANCE IN DISTURBED CONDITIONS. Kenneth J Waldron, Mohammad O Tokhi, Gurvinder S Virk. Nature-Inspired Mobile Robotics -- Proceedings of the 16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, World Scientific, pp.519-528, 2013, ⟨10.1142/9789814525534_0066⟩. ⟨hal-01031868⟩