ICRA 2011 Paper Abstract

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Paper TuA211.4

Righetti, Ludovic (University of Southern California), Buchli, Jonas (Italian Institute of Technology), Mistry, Michael (Disney Research Pittsburgh), Schaal, Stefan (University of Southern California)

Inverse Dynamics Control of Floating-Base Robots with External Constraints: A Unified View

Scheduled for presentation during the Regular Sessions "Direct/Inverse Dynamics Formulation" (TuA211), Tuesday, May 10, 2011, 10:50−11:05, Room 5F

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 30, 2020

Keywords Direct/Inverse Dynamics Formulation, Humanoid Robots

Abstract

Inverse dynamics controllers and operational space controllers have proved to be very efficient for compliant control of fully actuated robots such as fixed base manipulators. However legged robots such as humanoids are inherently different as they are underactuated and subject to switching external contact constraints. Recently several methods have been proposed to create inverse dynamics controllers and operational space controllers for these robots. In an attempt to compare these different approaches, we develop a general framework for inverse dynamics control and show that these methods lead to very similar controllers. We are then able to greatly simplify recent whole-body controllers based on operational space approaches using kinematic projections, bringing them closer to efficient practical implementations. We also generalize these controllers such that they can be optimal under an arbitrary quadratic cost in the commands.

 

 

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