View source for Publications:Experiments with Balancing on Irregular Terrains using the Dreamer Mobile Humanoid Robot

<div style='display: none'>
== Do not edit this section ==
</div>
{{PublicationSetupTemplate|Author=Luis Sentis, Joshua George Petersen, Roland Philippsen
|PID=552741
|Name=Sentis, Luis (University of Texas at Austin, Austin, Texas, United States) (Human-Centered Robotics Lab);Petersen, Joshua George (University of Texas at Austin, Austin, Texas, United States) (Human-Centered Robotics Lab);Philippsen, Roland [rolphi] (Högskolan i Halmstad [2804], Sektionen för Informationsvetenskap, Data– och Elektroteknik (IDE) [3905], Halmstad Embedded and Intelligent Systems Research (EIS) [3938], Laboratoriet för intelligenta system [6703])
|Title=Experiments with Balancing on Irregular Terrains using the Dreamer Mobile Humanoid Robot
|PublicationType=Conference Paper
|ContentType=Refereegranskat
|Language=eng
|Journal=
|JournalISSN=
|Status=
|Volume=
|Issue=
|HostPublication=
|Conference=Robotics: Science and Systems VIII, July 09-July 13, 2012, University of Sydney, Sydney, NSW, Australia
|StartPage=
|EndPage=
|Year=2012
|Edition=
|Pages=
|City=
|Publisher=
|Series=
|SeriesISSN=
|ISBN=
|Urls=http://roboticsproceedings.org/rss08/p50.pdf
|ISRN=
|DOI=
|ISI=
|PMID=
|ScopusId=
|NBN=urn:nbn:se:hh:diva-17549
|LocalId=
|ArchiveNumber=
|Keywords=humanoid robot;compliant control
|Categories=Datorseende och robotik (autonoma system) (10207)
|ResearchSubjects=
|Projects=
|Notes=
|Abstract=<p>We investigate controllers for mobile humanoidrobots that maneuver in irregular terrains while performing accurate physical interactions with the environment and with human operators and test them on Dreamer, our new robot with a humanoid upper body (torso, arm, head) and a holonomic mobile base (triangularly arranged Omni wheels). All its actuators are torque controlled, and the upper body provides redundant degrees of freedom. We developed new dynamical models and created controllers that stabilize the robot in the presence of slope variations, while it compliantly interacts with humans.</p><p>This paper considers underactuated free-body dynamics with contact constraints between the wheels and the terrain. Moreover, Dreamer incorporates a biarticular mechanical transmission that we model as a force constraint. Using these tools, we develop new compliant multiobjective skills and include self-motion stabilization for the highly redundant robot.</p>
|Opponents=
|Supervisors=
|Examiners=
|Patent=
|ThesisLevel=
|Credits=
|Programme=
|Subject=
|Uppsok=
|DefencePlace=
|DefenceLanguage=
|DefenceDate=
|CreatedDate=2012-04-24
|PublicationDate=2012-09-16
|LastUpdated=2013-11-15
|diva=http://hh.diva-portal.org/smash/record.jsf?searchId=1&pid=diva2:552741}}
<div style='display: none'>

== Keep all hand-made modifications below ==
</div>{{PublicationDisplayTemplate}}