Quadratic programming for inverse dynamics with optimal distribution of contact forces

IEEE-RAS International Conference on Humanoid Robots

Volumn , Issue , 2012, Pages 538-543

  Righetti, Ludovic ^a   Schaal, Stefan ^b  

^a UNIVERSITY OF SOUTHERN CALIFORNIA   (United States)

^b MAX PLANCK INSTITUTE FOR INTELLIGENT SYSTEMS   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

DYNAMICS MODELING; INEQUALITY CONSTRAINT; INVERSE DYNAMICS; INVERSE DYNAMICS CONTROLLERS; OPTIMAL DISTRIBUTIONS; QUADRATIC COSTS; QUADRATIC PROGRAMS; UNILATERAL CONTACT;

ANTHROPOMORPHIC ROBOTS; CONSTRAINT THEORY; CONTROLLERS; OPTIMIZATION;

QUADRATIC PROGRAMMING;

EID: 84891080645     PISSN: 21640572     EISSN: 21640580     Source Type: Conference Proceeding    
DOI: 10.1109/HUMANOIDS.2012.6651572     Document Type: Conference Paper

References (15)

1. L. Saab, O. Ramos, N. Mansard, P. Soueres, and J.-Y. Fourquet, "Generic dynamic motion generation with multiple unilateral constraints, " in 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011, pp. 4127-4133.
2. J. Salini, V. Padois, and P. Bidaud, "Synthesis of complex humanoid whole-body behavior: A focus on sequencing and tasks transitions, " in Robotics and Automation (ICRA), 2011 IEEE International Conference on, 2011, pp. 1283-1290.
3. L. Sentis, J. Park, and O. Khatib, "Compliant Control of Multicontact and Center-of-Mass Behaviors in Humanoid Robots, " IEEE Transactions on Robotics, vol. 26, no. 3, pp. 483-501, 2010.
4. B. Stephens and C. Atkeson, "Dynamic balance force control for compliant humanoid robots, " Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on, pp. 1248-1255, 2010.
5. L. Righetti, J. Buchli, M. Mistry, and S. Schaal, "Inverse Dynamics Control of Floating-Base Robots with External Constraints: A Unified View, " in Proceedings of the 2011 IEEE International Conference on Robotics and Automation (ICRA 2011), 2011, pp. 1085-1090.
6. L. Righetti, J. Buchli, M. Mistry, and S. Schaal, "Control of legged robots with optimal distribution of contact forces, " in Humanoid Robots (Humanoids), 2011 11th IEEE-RAS International Conference on, 2011, pp. 318-324.
7. 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.
8. S.-H. Lee and A. Goswami, "A momentum-based balance controller for humanoid robots on non-level and non-stationary ground, " Autonomous Robots, Apr. 2012.
9. S.-H. L. S.-H. Lee and A. Goswami, "Ground reaction force control at each foot: A momentum-based humanoid balance controller for nonlevel and non-stationary ground, " Oct. 2010, pp. 3157-3162.
10. Y. Abe, M. da Silva, and J. Popovic, "Multiobjective control with frictional contacts, " in Eurographics/ACM SIGGRAPH Symposium on Computer Animation, 2007.
11. M. de Lasa, I. Mordatch, and A. Hertzmann, "Feature-based locomotion controllers, " SIGGRAPH '10: SIGGRAPH 2010 papers, Jul. 2010.
12. F. Udwadia and R. Kalaba, "On the foundations of analytical dynamics, " Int. J. of Non-Linear Mechanics, vol. 37, pp. 1079-1090, 2002. (Pubitemid 34222690)
13. A. Ben-Israel and T. Greville, Generalized inverses: Theory and applications. Springer-Verlag New-York Inc., 2003.
14. R. Featherstone, Rigid Body Dynamics Algorithms, ser. Kluwer international series in engineering and computer science: Robotics. New York: Springer, 2008.
15. M. Mistry, S. Schaal, and K. Yamane, "inertial parameter estimation of floating-base humanoid systems using partial force sensing, " in ieeeras international conference on humanoid robots (humanoids 2009), 2009.