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Pré-Publication, Document De Travail Année : 2021

A Balance-Admittance Stabilizer for Multi-Flexible-Contacts Legged Robot

Résumé

In this paper, we propose a stabilizer for multi-contact legged robots that takes into account the environment compliance. This stabilizer is able to achieve both balance and admittance control in the same loop through the use of an explicit contact flexibility model and simplified centroidal dynamics that allows exploiting the redundancy of the kinematic and force feedback. The control problem is formulated as an LQR based on a linearized model of the reduced non-linear model. The performance of the stabilizer with regard to robustness to modeling error and external perturbations have been tested in simulations and compared to a rigid-contact-model regulator.
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Dates et versions

hal-03428689 , version 1 (15-11-2021)
hal-03428689 , version 2 (07-02-2022)
hal-03428689 , version 3 (02-03-2022)
hal-03428689 , version 4 (19-07-2022)

Identifiants

  • HAL Id : hal-03428689 , version 1

Citer

Marwan Hamze, Mehdi Benallegue, Rafael Cisneros, Abdelaziz Benallegue. A Balance-Admittance Stabilizer for Multi-Flexible-Contacts Legged Robot. 2021. ⟨hal-03428689v1⟩
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