@InProceedings{Oliveira2015a,
  author        = {Oliveira, Ana Christine and Adorno, Bruno Vilhena},
  title         = {{Balance Control of a Humanoid Robot Based on the Cooperative Dual Task-Space Framework}},
  booktitle     = {XII Simp{\'{o}}sio Brasileiro de Automa{\c{c}}{\~{a}}o Inteligente (SBAI)},
  year          = {2015},
  pages         = {485 -- 490},
  publisher     = {SBA},
  __markedentry = {[nml:6]},
  abstract      = {— This paper presents a technique for the modeling and balance control of humanoid robots based on dual quaternion algebra and the Cooperative Dual Task-Space Framework. A strategy for controlling the Center of Mass (CoM) position that takes into account the system's stability constraints is presented and validated in a realistic simulation. The results show that the presented control strategy is able to track a desired 3D trajectory for the CoM while ensuring the robot's balance, and may potentially be extended to perform bipedal locomotion. Keywords— Humanoid robots, Center of Mass (CoM), CoM control, Dual quaternion, Cooperative Dual Task-Space (CDTS). Resumo— Este artigo apresenta uma t{\'{e}}cnica de modelagem e controle de equil{\'{i}}brio de rob{\^{o}}s human{\'{o}}ides baseada na {\'{a}}lgebra de quat{\'{e}}rnios duais e no Espa{\c{c}}o de Coopera{\c{c}}{\~{a}}o Dual. Uma estrat{\'{e}}gia para controlar a posi{\c{c}}{\~{a}}o do Centro de Massa (CM), que leva em considera{\c{c}}{\~{a}}o as restri{\c{c}}{\~{o}}es de estabilidade do sistema, {\'{e}} apresentada e validada em um ambiente de simula{\c{c}}{\~{a}}o real{\'{i}}stico. Os resultados obtidos mostram que esta estrat{\'{e}}gia de controle {\'{e}} capaz de realizar o rastreamento de uma trajet{\'{o}}ria 3D desejada para o CM, enquanto garante o equil{\'{i}}brio do rob{\^{o}}, e pode, potencialmente, ser estendida para a locomo{\c{c}}{\~{a}}o de rob{\^{o}}s b{\'{i}}pedes. Palavras-chave— Rob{\^{o}}s human{\'{o}}ides, Centro de Massa, Controle do Centro de Massa, Quat{\'{e}}rnios duais, Espa{\c{c}}o de Coopera{\c{c}}{\~{a}}o Dual.},
  keywords      = {center of mass,com,com control,cooperative dual,dual quaternion,humanoid robots},
  url           = {http://swge.inf.br/SBAI2015/anais/139.pdf},
}

{"_id":"qiqJAvWrafbhso9mk","bibbaseid":"oliveira-adorno-balancecontrolofahumanoidrobotbasedonthecooperativedualtaskspaceframework-2015","downloads":0,"creationDate":"2018-12-06T01:21:27.508Z","title":"Balance Control of a Humanoid Robot Based on the Cooperative Dual Task-Space Framework","author_short":["Oliveira, A. C.","Adorno, B. V."],"year":2015,"bibtype":"inproceedings","biburl":"dqrobotics.github.io/images/dqrobotics.bib","bibdata":{"bibtype":"inproceedings","type":"inproceedings","author":[{"propositions":[],"lastnames":["Oliveira"],"firstnames":["Ana","Christine"],"suffixes":[]},{"propositions":[],"lastnames":["Adorno"],"firstnames":["Bruno","Vilhena"],"suffixes":[]}],"title":"Balance Control of a Humanoid Robot Based on the Cooperative Dual Task-Space Framework","booktitle":"XII Simpósio Brasileiro de Automação Inteligente (SBAI)","year":"2015","pages":"485 – 490","publisher":"SBA","__markedentry":"[nml:6]","abstract":"— This paper presents a technique for the modeling and balance control of humanoid robots based on dual quaternion algebra and the Cooperative Dual Task-Space Framework. A strategy for controlling the Center of Mass (CoM) position that takes into account the system's stability constraints is presented and validated in a realistic simulation. The results show that the presented control strategy is able to track a desired 3D trajectory for the CoM while ensuring the robot's balance, and may potentially be extended to perform bipedal locomotion. Keywords— Humanoid robots, Center of Mass (CoM), CoM control, Dual quaternion, Cooperative Dual Task-Space (CDTS). Resumo— Este artigo apresenta uma técnica de modelagem e controle de equilíbrio de robôs humanóides baseada na álgebra de quatérnios duais e no Espaço de Cooperação Dual. Uma estratégia para controlar a posição do Centro de Massa (CM), que leva em consideração as restrições de estabilidade do sistema, é apresentada e validada em um ambiente de simulação realístico. Os resultados obtidos mostram que esta estratégia de controle é capaz de realizar o rastreamento de uma trajetória 3D desejada para o CM, enquanto garante o equilíbrio do robô, e pode, potencialmente, ser estendida para a locomoção de robôs bípedes. Palavras-chave— Robôs humanóides, Centro de Massa, Controle do Centro de Massa, Quatérnios duais, Espaço de Cooperação Dual.","keywords":"center of mass,com,com control,cooperative dual,dual quaternion,humanoid robots","url":"http://swge.inf.br/SBAI2015/anais/139.pdf","bibtex":"@InProceedings{Oliveira2015a,\r\n author = {Oliveira, Ana Christine and Adorno, Bruno Vilhena},\r\n title = {{Balance Control of a Humanoid Robot Based on the Cooperative Dual Task-Space Framework}},\r\n booktitle = {XII Simp{\\'{o}}sio Brasileiro de Automa{\\c{c}}{\\~{a}}o Inteligente (SBAI)},\r\n year = {2015},\r\n pages = {485 -- 490},\r\n publisher = {SBA},\r\n __markedentry = {[nml:6]},\r\n abstract = {— This paper presents a technique for the modeling and balance control of humanoid robots based on dual quaternion algebra and the Cooperative Dual Task-Space Framework. A strategy for controlling the Center of Mass (CoM) position that takes into account the system's stability constraints is presented and validated in a realistic simulation. The results show that the presented control strategy is able to track a desired 3D trajectory for the CoM while ensuring the robot's balance, and may potentially be extended to perform bipedal locomotion. Keywords— Humanoid robots, Center of Mass (CoM), CoM control, Dual quaternion, Cooperative Dual Task-Space (CDTS). Resumo— Este artigo apresenta uma t{\\'{e}}cnica de modelagem e controle de equil{\\'{i}}brio de rob{\\^{o}}s human{\\'{o}}ides baseada na {\\'{a}}lgebra de quat{\\'{e}}rnios duais e no Espa{\\c{c}}o de Coopera{\\c{c}}{\\~{a}}o Dual. Uma estrat{\\'{e}}gia para controlar a posi{\\c{c}}{\\~{a}}o do Centro de Massa (CM), que leva em considera{\\c{c}}{\\~{a}}o as restri{\\c{c}}{\\~{o}}es de estabilidade do sistema, {\\'{e}} apresentada e validada em um ambiente de simula{\\c{c}}{\\~{a}}o real{\\'{i}}stico. Os resultados obtidos mostram que esta estrat{\\'{e}}gia de controle {\\'{e}} capaz de realizar o rastreamento de uma trajet{\\'{o}}ria 3D desejada para o CM, enquanto garante o equil{\\'{i}}brio do rob{\\^{o}}, e pode, potencialmente, ser estendida para a locomo{\\c{c}}{\\~{a}}o de rob{\\^{o}}s b{\\'{i}}pedes. Palavras-chave— Rob{\\^{o}}s human{\\'{o}}ides, Centro de Massa, Controle do Centro de Massa, Quat{\\'{e}}rnios duais, Espa{\\c{c}}o de Coopera{\\c{c}}{\\~{a}}o Dual.},\r\n keywords = {center of mass,com,com control,cooperative dual,dual quaternion,humanoid robots},\r\n url = {http://swge.inf.br/SBAI2015/anais/139.pdf},\r\n}\r\n\r\n","author_short":["Oliveira, A. C.","Adorno, B. V."],"key":"Oliveira2015a","id":"Oliveira2015a","bibbaseid":"oliveira-adorno-balancecontrolofahumanoidrobotbasedonthecooperativedualtaskspaceframework-2015","role":"author","urls":{"Paper":"http://swge.inf.br/SBAI2015/anais/139.pdf"},"keyword":["center of mass","com","com control","cooperative dual","dual quaternion","humanoid robots"],"metadata":{"authorlinks":{}},"downloads":0,"html":""},"search_terms":["balance","control","humanoid","robot","based","cooperative","dual","task","space","framework","oliveira","adorno"],"keywords":["center of mass","com","com control","cooperative dual","dual quaternion","humanoid robots"],"authorIDs":[],"dataSources":["DkimA3ELZBoSLyvg5","dsoGhxmmXxzmf4jgB"]}