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Inverse dynamics control of floating-base robots with external contraints: an unified view

2011

Conference Paper

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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.

Author(s): Righetti, L. and Mistry, M. and Buchli, J. and Schaal, S.
Book Title: IEEE International Conference on Robotics and Automation (ICRA)
Year: 2011

Department(s): Autonomous Motion, Movement Generation and Control
Research Project(s): Model-based control of legged robots
Bibtex Type: Conference Paper (inproceedings)

Address: Shanghai, China, May 9-13
Cross Ref: p10448
Note: clmc
URL: http://www-clmc.usc.edu/publications/R/righetti-ICRA2011.pdf

BibTex

@inproceedings{Righetti_IICRA_2011,
  title = {Inverse dynamics control of floating-base robots with external contraints: an unified view},
  author = {Righetti, L. and Mistry, M. and Buchli, J. and Schaal, S.},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  address = {Shanghai, China, May 9-13},
  year = {2011},
  note = {clmc},
  crossref = {p10448},
  url = {http://www-clmc.usc.edu/publications/R/righetti-ICRA2011.pdf}
}