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Door traversal is generally a trivial task for human beings but particularly challenging for humanoid robots. This paper describes a holistic approach for a full-sized humanoid robot to traverse through a door in an outdoor semi-structured environment as specified by the requirements of the DARPA Robotics Challenge. Door traversal can be broken down into four sub-tasks; door detection, walk to the...
We present a motion planning and control method for contact-rich full-body behaviors, particularly, the car egress task of the DARPA Robotics Challenge (DRC). We take advantage of human experience by manually specifying multiple task phases, each of which has a specific contact mode. Then, we optimize a sequence of static robot poses as well as contact locations that satisfy all constraints, such...
We describe the design and hardware implementation of our walking and manipulation controllers that are based on a cascade of online optimizations. A virtual force acting at the robot's center of mass (CoM) is estimated and used to compensated for modeling errors of the CoM and unplanned external forces. The proposed controllers have been implemented on the Atlas robot, a full size humanoid robot...
We introduce a center of mass estimator, and its application in full body inverse dynamics control, fall detection and fall prevention for humanoid robots. We use the Linear Inverted Pendulum Model dynamics with an offset to predict the center of mass motion. This offset can be interpreted as a modelling error on the center of mass position, or an external force exerted on the center of mass of the...
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