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

L. Righetti, J. Buchli, M. Mistry, S. Schaal

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.
Original languageEnglish
Title of host publication2011 IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages1085-1090
Number of pages6
ISBN (Electronic)978-1-61284-385-8
ISBN (Print)978-1-61284-386-5
DOIs
Publication statusPublished - May 2011

Fingerprint

Dive into the research topics of 'Inverse dynamics control of floating-base robots with external constraints: A unified view'. Together they form a unique fingerprint.

Cite this