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Computationally-Robust and Efficient Prioritized Whole-Body Controller with Contact Constraints
- Source :
- IROS
- Publication Year :
- 2018
- Publisher :
- IEEE, 2018.
-
Abstract
- In this paper, we devise methods for the multiobjective control of humanoid robots, a.k.a. prioritized whole-body controllers, that achieve efficiency and robustness in the algorithmic computations. We use a form of whole-body controllers that is very general via incorporating centroidal momentum dynamics, operational task priorities, contact reaction forces, and internal force constraints. First, we achieve efficiency by solving a quadratic program that only involves the floating base dynamics and the reaction forces. Second, we achieve computational robustness by relaxing task accelerations such that they comply with friction cone constraints. Finally, we incorporate methods for smooth contact transitions to enhance the control of dynamic locomotion behaviors. The proposed methods are demonstrated both in simulation and in real experiments using a passive-ankle bipedal robot.
- Subjects :
- 0209 industrial biotechnology
Computer science
02 engineering and technology
Computer Science::Robotics
Acceleration
020901 industrial engineering & automation
Robustness (computer science)
Control theory
0202 electrical engineering, electronic engineering, information engineering
Task analysis
Torque
Robot
020201 artificial intelligence & image processing
Quadratic programming
Whole body
Humanoid robot
Subjects
Details
- Database :
- OpenAIRE
- Journal :
- 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
- Accession number :
- edsair.doi...........eacc32409ec9c864c8cf5551f1ca2c36