Projects per year
Abstract / Description of output
This article presents a multicontact motion adaptation framework that enables teleoperation of high degree-of-freedom robots, such as quadrupeds and humanoids, for loco-manipulation tasks in multicontact settings. Our proposed algorithms optimize whole-body configurations and formulate the retargeting of multicontact motions as sequential quadratic programming, which is robust and stable near the edges of feasibility constraints. Our framework allows real-time operation of the robot and reduces cognitive load for the operator because infeasible commands are automatically adapted into physically stable and viable motions on the robot. The results in simulations with full dynamics demonstrated the effectiveness of teleoperating different legged robots interactively and generating rich multicontact movements. We evaluated the computational efficiency of the proposed algorithms, and further validated and analyzed multicontact loco-manipulation tasks on humanoid and quadruped robots by reaching, active pushing, and various traversal on uneven terrains.
Original language | English |
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Pages (from-to) | 4188-4198 |
Number of pages | 11 |
Journal | IEEE/ASME Transactions on Mechatronics |
Volume | 27 |
Issue number | 5 |
Early online date | 4 Mar 2022 |
DOIs | |
Publication status | Published - 1 Oct 2022 |
Keywords / Materials (for Non-textual outputs)
- Humanoid
- legged robot
- motion retargeting
- multicontact
- teleoperation
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Dive into the research topics of 'Multicontact Motion Retargeting Using Whole-Body Optimization of Full Kinematics and Sequential Force Equilibrium'. Together they form a unique fingerprint.Projects
- 2 Finished
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HARMONY: Enhancing Healthcare with Assistive Robotic Mobile Manipulation
Vijayakumar, S., Ivan, V., Khadem, M. & Li, Z.
1/01/21 → 30/06/24
Project: Research
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