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Inverse dynamics control of floating base systems using orthogonal decomposition

2010

Conference Paper

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Model-based control methods can be used to enable fast, dexterous, and compliant motion of robots without sacrificing control accuracy. However, implementing such techniques on floating base robots, e.g., humanoids and legged systems, is non-trivial due to under-actuation, dynamically changing constraints from the environment, and potentially closed loop kinematics. In this paper, we show how to compute the analytically correct inverse dynamics torques for model-based control of sufficiently constrained floating base rigid-body systems, such as humanoid robots with one or two feet in contact with the environment. While our previous inverse dynamics approach relied on an estimation of contact forces to compute an approximate inverse dynamics solution, here we present an analytically correct solution by using an orthogonal decomposition to project the robot dynamics onto a reduced dimensional space, independent of contact forces. We demonstrate the feasibility and robustness of our approach on a simulated floating base bipedal humanoid robot and an actual robot dog locomoting over rough terrain.

Author(s): Mistry, M. and Buchli, J. and Schaal, S.
Book Title: Robotics and Automation (ICRA), 2010 IEEE International Conference on
Pages: 3406-3412
Year: 2010
Month: May
Day: 3-7

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

Cross Ref: p10418
ISBN: 1050-4729
Note: clmc
URL: http://www-clmc.usc.edu/publications/M/mistry-ICRA2010.pdf

BibTex

@inproceedings{Mistry_RAIIC_2010,
  title = {Inverse dynamics control of floating base systems using orthogonal decomposition},
  author = {Mistry, M. and Buchli, J. and Schaal, S.},
  booktitle = {Robotics and Automation (ICRA), 2010 IEEE International Conference on},
  pages = {3406-3412},
  month = may,
  year = {2010},
  note = {clmc},
  crossref = {p10418},
  url = {http://www-clmc.usc.edu/publications/M/mistry-ICRA2010.pdf},
  month_numeric = {5}
}