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Torque-Based Balancing

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Humanoid Robotics: A Reference

Abstract

This chapter presents an overview of balance control approaches which utilize joint torque as the control input. Such control approaches are particularly useful for robots with explicit measurement of the generalized actuation forces allowing for an inner loop torque control. As a system model, floating base robot dynamics is considered in combination with a set of contact constraints. After discussion of the problem of how to control contact forces for a constrained mechanical system, a detailed treatment of the force distribution problem is given, which appears in multi-contact situations of legged robots. In addition, the basic approaches to implement joint torque control in electrically and hydraulically actuated robots are discussed. The chapter presents the general control theory based on dynamic inversion and passivity theory and highlights some successful implementations using two torque-controlled humanoid robots based on electric and hydraulic actuation.

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Author information

Authors and Affiliations

  1. Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany

    Christian Ott

  2. Robotics and Mechatronics Center (RMC), Wessling, Germany

    Christian Ott

  3. Department of Robotics, Ritsumeikan University, Shiga, Kusatsu-shi, Japan

    Sang-Ho Hyon

Authors
  1. Christian Ott
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  2. Sang-Ho Hyon
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Correspondence to Christian Ott .

Editor information

Editors and Affiliations

  1. Intuitive Surgical, Sunnyvale, CA, USA

    Ambarish Goswami

  2. Department of Electrical and Computer Engineering, National University of Singapore, Singapore, Singapore

    Prahlad Vadakkepat

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Ott, C., Hyon, SH. (2019). Torque-Based Balancing. In: Goswami, A., Vadakkepat, P. (eds) Humanoid Robotics: A Reference. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-6046-2_39

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