Dissertation/Thesis Abstract

Push Recovery Control for Force-Controlled Humanoid Robots
by Stephens, Benjamin, Ph.D., Carnegie Mellon University, 2011, 180; 3515773
Abstract (Summary)

Humanoid robots represent the state of the art in complex robot systems. High performance controllers that can handle unknown perturbations will be required if complex robots are to one day interact safely with people in everyday environments. Analyzing and predicting full-body behaviors is difficult in humanoid robots because of the high number of degrees of freedom and unstable nature of the dynamics. This thesis demonstrates the use of simple models to approximate the dynamics and simplify the design of reactive balance controllers. These simple models define distinct balance recovery strategies and improve state estimation. Push Recovery Model Predictive Control (PR-MPC), an optimization-based reactive balance controller that considers future actions and constraints using a simple COM model, is presented. This controller outputs feasible controls which are realized by Dynamic Balance Force Control (DBFC), a force controller that produces full-body joint torques. Push recovery, walking, and other force-based tasks are presented both in simulation and in experiments on the Sarcos Primus hydraulic humanoid robot.

Indexing (document details)
Advisor: Atkeson, Christopher
School: Carnegie Mellon University
School Location: United States -- Pennsylvania
Source: DAI-B 73/10(E), Dissertation Abstracts International
Subjects: Robotics
Keywords: Force-control, Humanoid robots, Perturbations, Push recovery
Publication Number: 3515773
ISBN: 978-1-267-47463-6
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