Verification of gait control based on reaction null-space for ground-gripping robot in microgravity

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.

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1A1-B06 Reaction-Null-Space Based Real-Time Balance Control of a Humanoid Robot in the Plane Subjected to an Impact

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ◽

10.1299/jsmermd.2007._1a1-b06_1 ◽

2007 ◽

Vol 2007 (0) ◽

pp. _1A1-B06_1-_1A1-B06_3

Author(s):

Manabu NAGAO ◽

Akinori NISHIO ◽

Keyword(s):

Real Time ◽

Humanoid Robot ◽

Null Space ◽

Balance Control ◽

Reaction Null Space

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Experiments on reaction null-space based decoupled control of a flexible structure mounted manipulator system

Proceedings of International Conference on Robotics and Automation ◽

10.1109/robot.1997.619341 ◽

2002 ◽

Cited By ~ 19

Author(s):

D.N. Nenchev ◽

K. Yoshida ◽

P. Vichitkulsawat ◽

A. Konno ◽

M. Uchiyama

Keyword(s):

Null Space ◽

Flexible Structure ◽

Decoupled Control ◽

Reaction Null Space

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Verification of gait control based on reaction null-space for ground-gripping robot in microgravity

Balance Stabilization with Angular Momentum Damping Derived from the Reaction Null-Space

2P1-S-047 Balance control of a humanoid robot based on the reaction null space method(Humanoid 4,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

Analysis on Motion Control Based on Reaction Null Space for Ground Grip Robot on an Asteroid

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

End-link dynamics of redundant robotic limbs: The Reaction Null Space approach

Reaction null-space filter: extracting reactionless synergies for optimal postural balance from motion capture data

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

Reaction Null Space of a multibody system with applications in robotics

1A1-B06 Reaction-Null-Space Based Real-Time Balance Control of a Humanoid Robot in the Plane Subjected to an Impact

Experiments on reaction null-space based decoupled control of a flexible structure mounted manipulator system

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