NDLI: Compliant locomotion using whole-body control and Divergent Component of Motion tracking

Content Provider	IEEE Xplore Digital Library
Author	Hopkins, M.A. Hong, D.W. Leonessa, A.
Copyright Year	2015
Description	Author affiliation: Eng. & Controls Lab, Virginia Tech., Blacksburg, VA, USA (Hopkins, M.A.; Leonessa, A.) \|\| Robot. & Mechanisms Lab., UCLA, Los Angeles, CA, USA (Hong, D.W.)
Abstract	This paper presents a compliant locomotion framework for torque-controlled humanoids using model-based whole-body control. In order to stabilize the centroidal dynamics during locomotion, we compute linear momentum rate of change objectives using a novel time-varying controller for the Divergent Component of Motion (DCM). Task-space objectives, including the desired momentum rate of change, are tracked using an efficient quadratic program formulation that computes optimal joint torque setpoints given frictional contact constraints and joint position / torque limits. In order to validate the effectiveness of the proposed approach, we demonstrate push recovery and compliant walking using THOR, a 34 DOF humanoid with series elastic actuation. We discuss details leading to the successful implementation of optimization-based whole-body control on our hardware platform, including the design of a “simple” joint impedance controller that introduces inner-loop velocity feedback into the actuator force controller.
Starting Page	5726
Ending Page	5733
File Size	3201866
Page Count	8
File Format	PDF
e-ISBN	9781479969234
DOI	10.1109/ICRA.2015.7140001
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-05-26
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Joints Dynamics Acceleration Trajectory Tracking Robots Optimization
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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