Robot-human balance state transfer during full-body humanoid teleoperation using Divergent Component of Motion dynamics

Joao Ramos, Albert Wang, Sangbae Kim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents the ongoing work towards enabling humanoid robots to achieve dynamic behaviors comparable to humans. By using the concept of Divergent Component of Motion (DCM) first in introduced in [1], the present paper permits operator and robot balance synchronization using the mutual dynamics of the Center of Mass (CoM) and Center of Pressure (CoP). The Linear Inverted Pendulum Model (LIPM) with a reaction mass [2] is utilized to capture the humanoid behavior which interacts with the human operator under the Equilibrium Point (EP) [3] control assumption. Remarkable similarities between the physical system behavior and simulated results suggest the feasibility of the strategy. Experiments conducted with the MIT HERMES humanoid robot further show the performance of the proposed method.

Original languageEnglish (US)
Title of host publication2016 IEEE International Conference on Robotics and Automation, ICRA 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1587-1592
Number of pages6
ISBN (Electronic)9781467380263
DOIs
StatePublished - Jun 8 2016
Externally publishedYes
Event2016 IEEE International Conference on Robotics and Automation, ICRA 2016 - Stockholm, Sweden
Duration: May 16 2016May 21 2016

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2016-June
ISSN (Print)1050-4729

Other

Other2016 IEEE International Conference on Robotics and Automation, ICRA 2016
CountrySweden
CityStockholm
Period5/16/165/21/16

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Ramos, J., Wang, A., & Kim, S. (2016). Robot-human balance state transfer during full-body humanoid teleoperation using Divergent Component of Motion dynamics. In 2016 IEEE International Conference on Robotics and Automation, ICRA 2016 (pp. 1587-1592). [7487298] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2016-June). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2016.7487298