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

摘要：

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.

作者: Ludovic Righetti Jonas Buchli Michael Mistry Stefan Schaal

作者单位: Lab,University of Southern California Los Angeles,CA90089,USA Dept. of Advanced Robotics,Italian Institute of Technology,Genoa,Italy Disney Research Pittsburgh,Pittsburgh,PA15213,USA

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 1085-1090

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）