Gait Design and Balance Control for the Biped Robot Based on Reaction Null-space Method

2006 ◽  
Author(s):  
Huai Chuangfeng ◽  
Fang Yuefa ◽  
Guo Sheng
Keyword(s):  
Null Space ◽  
Balance Control ◽  
Biped Robot ◽  
Reaction Null Space ◽  
Space Method

3A1-E08 Motion/Force Control of Humanoid Robots With the Reaction Null-Space Method(Humanoid (1))

2014 ◽  
Vol 2014 (0) ◽  
pp. _3A1-E08_1-_3A1-E08_4
Author(s):  
Ryohei OKAWA ◽  
Yuki MURAMATSU ◽  
Shoichi TAGUCHI ◽  
Daisuke SATO ◽  
Yoshikazu KANAMIYA
Keyword(s):  
Force Control ◽  
Null Space ◽  
Humanoid Robots ◽  
Reaction Null Space ◽  
Space Method

scholarly journals Reaction Null Space of a multibody system with applications in robotics

2013 ◽  
Vol 4 (1) ◽  
pp. 97-112 ◽  
Author(s):  
D. N. Nenchev
Keyword(s):  
Null Space ◽  
Balance Control ◽  
Humanoid Robots ◽  
Robot Arm ◽  
Robot Systems ◽  
Fixed Base ◽  
Flexible Base ◽  
Space Formalism ◽  
Reaction Null Space ◽  
Base Disturbance

Abstract. This paper provides an overview of implementation examples based on the Reaction Null Space formalism, developed initially to tackle the problem of satellite-base disturbance of a free-floating space robot, when the robot arm is activated. The method has been applied throughout the years to other unfixed-base systems, e.g. flexible-base and macro/mini robot systems, as well as to the balance control problem of humanoid robots. The paper also includes most recent results about complete dynamical decoupling of the end-link of a fixed-base robot, wherein the end-link is regarded as the unfixed-base. This interpretation is shown to be useful with regard to motion/force control scenarios. Respective implementation results are provided.

Time-Differentiable Null Space Method for Constrained Mechanical Systems (Application to a Rheonomic System)

2013 ◽  
Author(s):  
Keisuke Kamiya
Keyword(s):  
Lagrange Multipliers ◽  
Null Space ◽  
Constraint Equation ◽  
Coefficient Matrix ◽  
Differential Algebraic Equations ◽  
Algebraic Equations ◽  
Accurate Analysis ◽  
Constrained Mechanical Systems ◽  
Space Matrix ◽  
Space Method

The governing equations of multibody systems are, in general, formulated in the form of differential algebraic equations (DAEs) involving the Lagrange multipliers. For efficient and accurate analysis, it is desirable to eliminate the Lagrange multipliers and dependent variables. Methods called null space method and Maggi’s method eliminate the Lagrange multipliers by using the null space matrix for the coefficient matrix which appears in the constraint equation in velocity level. In a previous report, the author presented a method to obtain a time differentiable null space matrix for scleronomic systems, whose constraint does not depend on time explicitly. In this report, the method is generalized to rheonomic systems, whose constraint depends on time explicitly. Finally, the presented method is applied to four-bar linkages.

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