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Imposition of Kinematic Constraints for Robotic Stability and Support

  • Hichem Kallel
  • Hooshang Hemami
  • Bostwick F. Wyman
Part of the Progress in Systems and Control Theory book series (PSCT, volume 7)

Abstract

We consider a constrained robotic system with constraints which may be imposed or removed under control. It is desired to control the robot to withstand disturbances and to preserve contact forces with the environment. The main idea of this paper is to show that we can achieve this goal by imposing additional kinematic constraints. We demonstrate the feasibility of such an approach for postural adjustments of biped robots by proposing two control designs.The first controller is defined so that robot stability is guaranteed. In the second design, the controller simultaneously stabilizes the robot and imposes an additional kinematic constraint. The controller is equipped with an additional input whose sole purpose is to maintain the kinematic constraint, i.e to ensure that the center of gravity of the biped robot remains above the base of support when the biped is disturbed from its equilibrium posture. Digital simulations are conducted with both controllers when the biped is disturbed from equilibrium and show the effectiveness of the proposed control.

Keywords

Robotic System Kinematic Constraint Constraint Force ASME Journal Impedance Control 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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References

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Copyright information

© Springer Science+Business Media New York 1991

Authors and Affiliations

  • Hichem Kallel
    • 1
  • Hooshang Hemami
    • 1
  • Bostwick F. Wyman
    • 2
  1. 1.Department of Electrical EngineeringThe Ohio State UniversityColumbusUSA
  2. 2.Department of MathematicsThe Ohio State UniversityColumbusUSA

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