© 2016

Whole-Body Impedance Control of Wheeled Humanoid Robots


  • Focuses on the skills for soft contact interactions

  • Investigates the concept of hierarchy-based control thoroughly, and extends the classical state-of-the-art method for the task prioritization by new features

  • such as dynamic task hierarchies and the treatment of conflicting objectives

  • All algorithms reported are experimentally validated on a mobile humanoid robot

  • Gives an outlook to the prospective use of the proposed controller as an essential component in an integrated framework


Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 116)

Table of contents

  1. Front Matter
    Pages i-xv
  2. Alexander Dietrich
    Pages 1-11
  3. Alexander Dietrich
    Pages 13-22
  4. Alexander Dietrich
    Pages 55-97
  5. Alexander Dietrich
    Pages 99-139
  6. Alexander Dietrich
    Pages 141-150
  7. Alexander Dietrich
    Pages 157-160
  8. Back Matter
    Pages 161-187

About this book


Introducing mobile humanoid robots into human environments requires the systems to physically interact and execute multiple concurrent tasks. The monograph at hand presents a whole-body torque controller for dexterous and safe robotic manipulation. This control approach enables a mobile humanoid robot to simultaneously meet several control objectives with different pre-defined levels of priority, while providing the skills for compliant physical contacts with humans and the environment.

After a general introduction into the topic of whole-body control, several essential reactive tasks are developed to extend the repertoire of robotic control objectives. Additionally, the classical Cartesian impedance is extended to the case of mobile robots. All of these tasks are then combined and integrated into an overall, priority-based control law. Besides the experimental validation of the approach, the formal proof of asymptotic stability for this hierarchical controller is presented. By interconnecting the whole-body controller with an artificial intelligence, the immense potential of the integrated approach for complex real-world applications is shown. Several typical household chores, such as autonomously wiping a window or sweeping the floor with a broom, are successfully performed on the mobile humanoid robot Rollin’ Justin of the German Aerospace Center (DLR).

The results suggest the presented controller for a large variety of fields of application such as service robotics, human-robot cooperation in industry, telepresence in medical applications, space robotics scenarios, and the operation of mobile robots in dangerous and hazardous environments.


Soft Contact Interactions Whole-Body Control Dynamic Task Hierarchies Task Prioritization Stability Analysis Redundancy Resolution

Authors and affiliations

  1. 1.Institut für Robotik und MechatronikDeutsches Zentrum für Luft-und RaumfahrtWesslingGermany

Bibliographic information

  • Book Title Whole-Body Impedance Control of Wheeled Humanoid Robots
  • Authors Alexander Dietrich
  • Series Title Springer Tracts in Advanced Robotics
  • Series Abbreviated Title Spr.Tracts in Adv.Robotics
  • DOI
  • Copyright Information Springer International Publishing Switzerland 2016
  • Publisher Name Springer, Cham
  • eBook Packages Engineering Engineering (R0)
  • Hardcover ISBN 978-3-319-40556-8
  • Softcover ISBN 978-3-319-82129-0
  • eBook ISBN 978-3-319-40557-5
  • Series ISSN 1610-7438
  • Series E-ISSN 1610-742X
  • Edition Number 1
  • Number of Pages XV, 187
  • Number of Illustrations 11 b/w illustrations, 71 illustrations in colour
  • Topics Robotics and Automation
    Artificial Intelligence
    User Interfaces and Human Computer Interaction
  • Buy this book on publisher's site
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