Inverse kinematics with floating base and constraints for full body humanoid robot control

2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008

Volumn , Issue , 2008, Pages 22-27

  Mistry, Michael ^a,b   Nakanishi, Jun ^a,d   Cheng, Gordon ^a,b,c   Schaal, Stefan ^a,b,c  

^a ADVANCED TELECOMMUNICATIONS RESEARCH INSTITUTE INTERNATIONAL   (Japan)

^b University of Southern California   (United States)

^c UNIVERSITY OF SOUTHERN CALIFORNIA   (United States)

^d JAPAN SCIENCE AND TECHNOLOGY AGENCY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

INTELLIGENT ROBOTS; INVERSE KINEMATICS; TRACKING (POSITION);

CENTER OF GRAVITIES; FLOATING BASE; FULL BODIES; HUMANOID ROBOTS; INVERSE DYNAMICS CONTROLS; MODEL-BASED; POSITION TRACKING; ROBOT TASKS; SUFFICIENT CONDITIONS; TASK-SPACE CONTROLS; UNDER ACTUATIONS;

ROBOTICS;

EID: 63549123477     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICHR.2008.4755926     Document Type: Conference Paper

References (24)

1. Y. Umetani and K. Yoshida, Resolved motion rate control of space manipulators with generalized Jacobian matrix, IEEE Transactions on Robotics Automation, 5(3):303-314, 1989.
2. Z. Vafa and S. Dubowsky, The kinematics and dynamics of space manipulators: the virtual manipulator approach, Int. J. Robotics Res. 9(4):3-2, 1990.
3. S. Dubowsky and E. Papadopoulos. The kinematics, dynamics, and control of free-flying and free-floating space robotic systems. IEEE Transactions on Robotics and Automation, 9(5):531-543, 1993.
4. F. Fabrizio ad B. Siciliano. Kinematic control of redundant freefloating systems. Advanced Robotics, Vol. 15. No. 4, pp. 429-448, 2001.
5. L. Sentis and O. Khatib, "Control of Free-Floating Humanoid Robots Through Task Prioritization", Proceedings of the 2005 International Conference on Robotics and Automation, Barcelona, Spain, 2005, pp. 1730-1735.
6. J. Park and O. Khatib, "Contact consistent control framework for humanoid robots,", Proceedings of the 2006 ICRA IEEE International Conference on Robotics and Automation, Orlando, USA, 2006, pp. 1963-1969.
7. L. Sentis and O. Khatib, "A whole-body control framework for humanoids operating in human environments,", Proceedings of the 2006 ICRA IEEE International Conference on Robotics and Automation, Orlando, USA, 2006, pp. 2641-2648.
8. O. Khatib, L. Sentis and J. Park, A Unified Framework for Whole-Body Humanoid Robot Control with Multiple Constraints and Contacts, Springer Tracts in Advanced Robotics - STAR Series, European Robotics Symposium (EURON), Prague, Czech Republic, March 2008.
9. O. Khatib, A unified approach to motion and force control of robot manipulators: The operational space formulation, Int. J. Robotics Res. 3(1):43-53, 1987.
10. J. Nakanishi, R. Cory, M. Mistry, J. Peters, S. Schaal, Operational Space Control: A Theoretical and Empirical Comparison, Int. J. Robotics Res. Vol. 27, No. 6, 737-757, 2008.
11. M. Mistry, P. Mohajerian, S. Schaal., "Arm movement experiments with joint space force fields using an exoskeleton robot" IEEE Ninth International Conference on Rehabilitation Robotics, Chicago, IL, pp. 408-413, 2005.
12. J. Ting, M. Mistry, J. Peters, S. Schaal, J. Nakanishi. "A Bayesian Approach to Nonlinear Parameter Identification for Rigid Body Dynamics", Robotics: Science and Systems, Philadelphia, PA, 2006.
13. M. Vukobratovic and J. Stepanenko, "On the stability of anthropomorphic systems," Journal of Mathematical Bioscience, vol. 15, pp. 1-37, 1972.
14. M. Vukobratovic and B. Borovac, "Zero-mement point - Thirty five years of its life," International Journal of Humanoid Robotics, vol. 1, pp. 157-173, 2004.
15. Y. Nakamura, H. Hanafusa, and T. Yoshikawa. Task-priority based redundancy control of robot manipulators, Int. J. Robotics Res., 6(2):3-15, 1987.
16. B. Siciliano and J. Slotine, "A general framework for managing multiple tasks in highly redundant robotic systems, Fifth International Conference on Advance Robotics, Pisa, Italy, pp. 1211-1216, 1991,
17. S. Chiaverini. "Singularity-robust task-priority redundancy resolution for real-time kinematic control of robot manipulators", IEEE Transactions on Robotics and Automation, Vol 13, No. 3:398-410, 1997.
18. P. Baerlocher, and R. Boulic, "Task-priority formulations for the kinematic control of highly redundant articulated structures", Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 323-329, 1998.
19. M. Mistry, J. Nakanishi, S. Schaal, "Task Space Control with Prioritization for Balance and Locomotion", 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, CA, pp. 331-338, 2007.
20. J. Nakanishi, M. Mistry, and S. Schaal, "Inverse dynamics control with floating base and constraints", 2007 International Conference on Robotics and Automation, Rome, Italy, pp. 1942-1947, 2007.
21. T. Sugihara, Mobility Enhancement Control of Humanoid Robot based on Reaction Force Manipulation via Whole Body Motion. PhD thesis, University of Tokyo, 2004.
22. L. Sciavicco, B. Siciliano, Modeling and Control of Robot Manipulators, McGraw-Hill, Inc., New York, 1996.
23. G. Cheng, S. Hyon, J. Morimoto, A. Ude, J. Hale, G. Colvin, W. Scroggin, and S. C. Jacobsen, "CB: A humanoid research platform for exploring neuroscience", Advanced Robotics, Vol 21, No. 10, 1097-1114, 2007.
24. G. Strang, Linear Algebra and its Applications, 3rd ed., Harcourt Brace Jovanovich College Publishers, Orlando, 1988.