Inverse dynamics control of floating-base robots with external constraints: A unified view

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2011, Pages 1085-1090

  Righetti, Ludovic ^a   Buchli, Jonas ^b   Mistry, Michael ^c   Schaal, Stefan ^a  

^a UNIVERSITY OF SOUTHERN CALIFORNIA   (United States)

^b ISTITUTO ITALIANO DI TECNOLOGIA   (Italy)

^c DISNEY RESEARCH   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CONTACT CONSTRAINT; EXTERNAL CONSTRAINTS; FIXED BASE; FLOATING-BASE; INVERSE DYNAMICS CONTROL; INVERSE DYNAMICS CONTROLLERS; LEGGED ROBOTS; OPERATIONAL SPACE; PRACTICAL IMPLEMENTATION; QUADRATIC COSTS; UNDERACTUATED; WHOLE-BODY;

CONTROLLERS; MANIPULATORS; ROBOTS;

ROBOTICS;

EID: 84856359290     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2011.5980156     Document Type: Conference Paper

References (12)

1. L. Sentis and O. Khatib, "Synthesis of whole-body behaviors through hierarchical control of behavioral primitives," International Journal of Humanoid Robotics, vol. 2, no. 4, pp. 505-518, 2005.
2. S. Hyon, J. G. Hale, and G. Cheng, "Full-body compliant human-humanoid interaction: Balancing in the presence of unknown external forces," IEEE Trans. on Robotics, vol. 23, no. 5, pp. 884-898, 2007.
3. M. Mistry, J. Buchli, and S. Schaal, "Inverse dynamics control of floating base systems using orthogonal decomposition," in In proc. of the 2010 International Conference on Robotics and Automation, 2010.
4. O. Khatib, "A unified approach for motion and force control of robot manipulators: The operational space formulation." IEEE Journal of Robotics and Automation., vol. 3, no. 1, pp. 43-53, 1987.
5. J. Nakanishi, R. Cory, M. Mistry, J. Peters, and S. Schaal, "Operational space control: a theoretical and emprical comparison," International Journal of Robotics Research, vol. 27, no. 6, pp. 737-757, 2008.
6. J. Peters, M. Mistry, F. E. Udwadia, J. Nakanishi, and S. Schaal, "A unifying methodology for robot control with redundant DOFs," Autonomous Robots, no. 1, pp. 1-12, 2008.
7. L. Sentis, "Synthesis and control of whole-body behaviors in humanoid systems," Ph.D. dissertation, Stanford University, July 2007.
8. F. Aghili, "A unified approach for inverse and direct dynamics of constrained multibody systems based on linear projection operator: Applications to control and simulation," IEEE Transactions on Robotics, vol. 21, no. 5, pp. 834-849, October 2005.
9. J. Buchli, M. Kalakrishnan, M. Mistry, P. Pastor, and S. Schaal, "Compliant quadruped locomotion over rough terrain," in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2009, pp. 814-820.
10. F. Udwadia and R. Kalaba, "On the foundations of analytical dynamics," Int. J. of Non-Linear Mechanics, vol. 37, pp. 1079-1090, 2002.
11. A. Ben-Israel and T. Greville, Generalized inverses: theory and applications. Springer-Verlag New-York Inc., 2003.
12. L. Sentis, J. Park, and O. Khatib, "Compliant control of multi-contact and center of mass behaviors in humanoid robots," IEEE Transactions on Robotics, vol. 26, no. 3, pp. 483-501, 2010.