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

Content Provider	IEEE Xplore Digital Library
Author	Righetti, L. Buchli, J. Mistry, M. Schaal, S.
Copyright Year	2011
Description	Author affiliation: Computational Learning and Motor Control Lab, University of Southern California Los Angeles, CA90089, USA (Righetti, L.; Schaal, S.) \|\| Disney Research Pittsburgh, PA15213, USA (Mistry, M.) \|\| Dept. of Advanced Robotics, Italian Institute of Technology, Genoa, Italy (Buchli, J.)
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.
Starting Page	1085
Ending Page	1090
File Size	1381383
Page Count	6
File Format	PDF
ISBN	9781612843865
ISSN	10504729
e-ISBN	9781612843858
DOI	10.1109/ICRA.2011.5980156
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Aerospace electronics Jacobian matrices Joints Robot kinematics Kinematics Legged locomotion
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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