Whole-body Control for Multi-contact Balancing of Humanoid Robots: Design and Experiments - Couverture rigide
Livre 141 sur 153: Springer Tracts in Advanced Robotics
Synopsis
Introduction.- Notation.- Modeling.- Cartesian Compliance.- Torque-Controlled Humanoid Robot TORO.- Whole-Body Control for Multi-Contact Balancing.- Combining Multi-Contact Balancing with Hierarchical Whole-Body Control.- Balance Control based on Reduced Dynamic Models.- Applications.- Discussion and Conclusion.
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Whole-Body Control for Multi-Contact Balancing of Humanoid Robots. Design and Experiments.
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Cham, Springer International Publishing., 2022
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ISBN 13 : 9783030872113
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1 Online-Ressource(XVI, 199 p. 72 illus., 67 illus. in color.). Gebunden. Versand aus Deutschland / We dispatch from Germany via Air Mail. Einband bestoßen, daher Mängelexemplar gestempelt, sonst sehr guter Zustand. Imperfect copy due to slightly bumped cover, apart from this in very good condition. Stamped. Springer Tracts in Advanced Robotics, 143. Sprache: Englisch. N° de réf. du vendeur 36454AB
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Whole-Body Control for Multi-Contact Balancing of Humanoid Robots (eng)
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Whole-Body Control for Multi-Contact Balancing of Humanoid Robots (Hardcover)
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Springer Nature Switzerland AG, Cham, 2021
ISBN 10 : 3030872114
ISBN 13 : 9783030872113
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Hardcover. Etat : new. Hardcover. 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. This book aims at providing algorithms for balance control of legged, torque-controlled humanoid robots. 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. Shipping may be from multiple locations in the US or from the UK, depending on stock availability. N° de réf. du vendeur 9783030872113
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Whole-Body Control for Multi-Contact Balancing of Humanoid Robots: Design and Experiments (Springer Tracts in Advanced Robotics, 143)
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Whole-Body Control for Multi-Contact Balancing of Humanoid Robots
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Springer International Publishing Nov 2021, 2021
ISBN 10 : 3030872114
ISBN 13 : 9783030872113
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Buch. Etat : Neu. This item is printed on demand - it takes 3-4 days longer - Neuware -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. 216 pp. Englisch. N° de réf. du vendeur 9783030872113
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Whole-Body Control for Multi-Contact Balancing of Humanoid Robots
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Springer International Publishing, 2021
ISBN 10 : 3030872114
ISBN 13 : 9783030872113
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Gebunden. Etat : New. Dieser Artikel ist ein Print on Demand Artikel und wird nach Ihrer Bestellung fuer Sie gedruckt. Provides novel algorithms for balance control of legged, torque-controlled humanoid robotsAddresses challenge of multi-contact balancing, which allows a humanoid robotIs winner of the George Giralt PhD Award for extraordinary contributions . N° de réf. du vendeur 495743171
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Whole-Body Control for Multi-Contact Balancing of Humanoid Robots | Design and Experiments
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Buch. Etat : Neu. Whole-Body Control for Multi-Contact Balancing of Humanoid Robots | Design and Experiments | Bernd Henze | Buch | Springer Tracts in Advanced Robotics | xvi | Englisch | 2021 | Springer | EAN 9783030872113 | Verantwortliche Person für die EU: Springer Verlag GmbH, Tiergartenstr. 17, 69121 Heidelberg, juergen[dot]hartmann[at]springer[dot]com | Anbieter: preigu Print on Demand. N° de réf. du vendeur 120451352
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Whole-Body Control for Multi-Contact Balancing of Humanoid Robots
ISBN 10 : 3030872114
ISBN 13 : 9783030872113
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Buch. Etat : Neu. Neuware -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.Springer Verlag GmbH, Tiergartenstr. 17, 69121 Heidelberg 216 pp. Englisch. N° de réf. du vendeur 9783030872113
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Whole-Body Control for Multi-Contact Balancing of Humanoid Robots : Design and Experiments
Edité par
Springer International Publishing, 2021
ISBN 10 : 3030872114
ISBN 13 : 9783030872113
Neuf
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Buch. Etat : Neu. Druck auf Anfrage Neuware - Printed after ordering - 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. N° de réf. du vendeur 9783030872113
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Whole-Body Control for Multi-Contact Balancing of Humanoid Robots (Hardcover)
Edité par
Springer Nature Switzerland AG, Cham, 2021
ISBN 10 : 3030872114
ISBN 13 : 9783030872113
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Hardcover. Etat : new. Hardcover. 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. This book aims at providing algorithms for balance control of legged, torque-controlled humanoid robots. 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. Shipping may be from our Sydney, NSW warehouse or from our UK or US warehouse, depending on stock availability. N° de réf. du vendeur 9783030872113
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