Abstract
Combining the multi-contact balancing controller presented in Chap. 6 with hierarchical multi-objective control adds two more features to the abilities of the robot: The combined framework implements a dynamic decoupling of the tasks (Henze et al. 2016a), such that low priority tasks do not disturb tasks with a high priority level. For instance, this feature can be beneficial if the robot carries a glass of water while performing a motion with the CoM while walking. Furthermore, the combined framework allows for the employment of humanoid robots in confined spaces, where the available space limits the motion capabilities of the rather bulky limbs. For this reason, the robot should be able to support itself with contacts scattered all over the body instead of relying only on the feet and the hands.
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Notes
- 1.
\(\alpha _\text {IMU} = 1\), \(\alpha _\text {KneeR}= \alpha _\text {KneeL}= 0.5\), \(\alpha _\text {FootR}= \alpha _\text {FootL}= 0\), and \(\alpha _\text {HandR}= \alpha _\text {HandL}= 0\).
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Henze, B. (2022). Combining Multi-contact Balancing with Hierarchical Whole-Body Control. In: Whole-Body Control for Multi-Contact Balancing of Humanoid Robots. Springer Tracts in Advanced Robotics, vol 143. Springer, Cham. https://doi.org/10.1007/978-3-030-87212-0_7
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