researchers
- BALAGUER BERNALDO DE QUIROS, CARLOS Principal Researcher
- MARTINEZ DE LA CASA DIAZ, SANTIAGO Researcher
Benchmarking Humanoid Locomotion and Standing Performances during Dynamic Autonomous Bi Manipulation of Objects (HumaBiMan)
Projects
Overview
type
- European Research Project
reference
- GA-779963/Subproject HumaBiMan
date/time interval
- February 19, 2021 - June 30, 2022
funding entity
abstract
-
HumaBiMan project focusses on a whole-body humanoid robot stability during the dual
standing manipulation. The robot balance with/without holding a box of unknown weight
during its motion among the shelfs with slippery floor. Taking advantage of the use of the
resources of the RoboticsLab-UC3M research group, the technical purpose of this project is
to benchmark existing and new adaptive whole-body controllers developed for the humanoid
robot TEO1,2. The development of these controllers is based on different bioinspired
techniques such as axes Fractional-PID controllers and dynamically adaptative LIRM, that
need rich experimental data to be improved. The target scenarios of this proposal are i) the
standing moving surface testbed (COMTEST) and ii) the standing during manipulation
among shelfs testbed. They provide the appropriate environment to improve the general
whole-body stability control algorithms and to benchmark the performance in different
situations during standing manipulation.