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This paper reports on the applicability of our passivity-based contact force control framework for humanoids. We present its adaptation to unknown rough terrain. The adaptation to uneven ground is achieved by an optimally-distributed anti-gravitational forces applied to preset contact points in a feed-forward manner even without explicitly measuring the external forces or the terrain shape. The adaptation...
This paper proposes a simple passivity-based disturbance rejection scheme for force-controllable biped humanoids. The disturbance rejection by force control is useful not only for self-balance, but also for stable and safety physical interaction between human and humanoid robots. The core technique is passivity-based contact force control with gravity-compensation. This makes it easy to control the...
This paper proposes an effective framework of human-humanoid robot physical interaction. Its key component is a new control technique for full-body balancing in the presence of external forces, which is presented and then validated empirically. We have adopted an integrated system approach to develop humanoid robots. Herein, we describe the importance of replicating human-like capabilities and responses...
This paper proposes a passivity-based hierarchical full-body motion controller for force-controllable multi-DOF humanoid robots. The task-space forces are treated in a uniform manner for a variety of position/force tracking and force/moment compensation. The contact force closure is optimally solved and transformed directly into the joint torques in real-time without any joint trajectory planning...
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