Header logo is am

Task space control with prioritization for balance and locomotion

2007

Conference Paper

am


This paper addresses locomotion with active balancing, via task space control with prioritization. The center of gravity (COG) and foot of the swing leg are treated as task space control points. Floating base inverse kinematics with constraints is employed, thereby allowing for a mobile platform suitable for locomotion. Different techniques of task prioritization are discussed and we clarify differences and similarities of previous suggested work. Varying levels of prioritization for control are examined with emphasis on singularity robustness and the negative effects of constraint switching. A novel controller for task space control of balance and locomotion is developed which attempts to address singularity robustness, while minimizing discontinuities created by constraint switching. Controllers are evaluated using a quadruped robot simulator engaging in a locomotion task.

Author(s): Mistry, M. and Nakanishi, J. and Schaal, S.
Book Title: IEEE International Conference on Intelligent Robotics Systems (IROS 2007)
Year: 2007

Department(s): Autonomous Motion
Bibtex Type: Conference Paper (inproceedings)

Address: San Diego, CA: Oct. 29 Ð Nov. 2
Cross Ref: p3020
Note: clmc
URL: http://www-clmc.usc.edu/publications/M/mistry-IROS2007.pdf

BibTex

@inproceedings{Mistry_IICIRS_2007,
  title = {Task space control with prioritization for balance and locomotion},
  author = {Mistry, M. and Nakanishi, J. and Schaal, S.},
  booktitle = {IEEE International Conference on Intelligent Robotics Systems (IROS 2007)},
  address = {San Diego, CA: Oct. 29 Ð Nov. 2},
  year = {2007},
  note = {clmc},
  crossref = {p3020},
  url = {http://www-clmc.usc.edu/publications/M/mistry-IROS2007.pdf}
}