File:Multi-Contact Balancing for Torque-Controlled Humanoid Robots.webm
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Original file (WebM audio/video file, VP9/Opus, length 4 min 37 s, 854 × 480 pixels, 502 kbps overall, file size: 16.6 MB)
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English: Humanoid robots are meant to take over task which are dangerous or too physically demanding for humans. To accomplish this, the robot must be able to balance robustly in challenging terrain as e.g. stairs, industrial ladders, or debris. In order to gain more robustness, the robot can use multiple contacts (not only the feet but also the hands) to support itself. This video contains several experiments with the humanoid robot TORO developed by DLR, which demonstrates the performance and robustness of a passivity-based balancing controller utilizing multiple contacts.
An in-depth discussion of the method is presented in the paper ‘Passivity-Based Whole-Body Balancing for Torque-Controlled Humanoid Robots in Multi-Contact Scenarios’, IJRR 2016. DOI: 10.1177/0278364916653815 |
| Date | |
| Source | YouTube: Multi-Contact Balancing for Torque-Controlled Humanoid Robots – View/save archived versions on archive.org and archive.today |
| Author | DLRRMC |
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Attribution: DLRRMC
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| Date/Time | Thumbnail | Dimensions | User | Comment | |
|---|---|---|---|---|---|
| current | 07:11, 9 October 2019 | 4 min 37 s, 854 × 480 (16.6 MB) | Eatcha (talk | contribs) | Imported media from https://www.youtube.com/watch?v=Z-ho7_sUkp0 |
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