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dc.contributor.authorPrete, ADen
dc.contributor.authorNori, Fen
dc.contributor.authorMetta, Gen
dc.contributor.authorNatale, Len
dc.date.accessioned2017-06-23T15:40:32Z
dc.date.available2017-06-23T15:40:32Z
dc.identifier.urihttp://hdl.handle.net/10026.1/9530
dc.descriptionPre-print submitted to "Robotics and Autonomous Systems"en
dc.description.abstract

We present a new framework for prioritized multi-task motion-force control of fully-actuated robots. This work is established on a careful review and comparison of the state of the art. Some control frameworks are not optimal, that is they do not find the optimal solution for the secondary tasks. Other frameworks are optimal, but they tackle the control problem at kinematic level, hence they neglect the robot dynamics and they do not allow for force control. Still other frameworks are optimal and consider force control, but they are computationally less efficient than ours. Our final claim is that, for fully-actuated robots, computing the operational-space inverse dynamics is equivalent to computing the inverse kinematics (at acceleration level) and then the joint-space inverse dynamics. Thanks to this fact, our control framework can efficiently compute the optimal solution by decoupling kinematics and dynamics of the robot. We take into account: motion and force control, soft and rigid contacts, free and constrained robots. Tests in simulation validate our control framework, comparing it with other state-of-the-art equivalent frameworks and showing remarkable improvements in optimality and efficiency.

en
dc.language.isoenen
dc.subjectcs.ROen
dc.subjectcs.ROen
dc.titlePrioritized motion-force control of constrained fully-actuated robots: "Task Space Inverse Dynamics"en
dc.typeJournal Article
plymouth.author-urlhttp://arxiv.org/abs/1410.3863v1en
plymouth.publisher-urlhttp://dx.doi.org/10.1016/j.robot.2014.08.016en
plymouth.journalA. Del Prete, et al., Prioritized motion-force control of constrained fully-actuated robots: "Task Space Inverse Dynamics", Robotics and Autonomous Systems (2014)en
dc.identifier.doi10.1016/j.robot.2014.08.016en
plymouth.organisational-group/Plymouth
plymouth.organisational-group/Plymouth/00 Groups by role
plymouth.organisational-group/Plymouth/00 Groups by role/Academics
plymouth.organisational-group/Plymouth/Faculty of Science and Engineering
plymouth.organisational-group/Plymouth/Faculty of Science and Engineering/School of Computing, Electronics and Mathematics
plymouth.organisational-group/Plymouth/REF 2021 Researchers by UoA
plymouth.organisational-group/Plymouth/REF 2021 Researchers by UoA/UoA11 Computer Science and Informatics
dc.rights.embargoperiodNot knownen
rioxxterms.versionofrecord10.1016/j.robot.2014.08.016en
rioxxterms.licenseref.urihttp://www.rioxx.net/licenses/all-rights-reserveden
rioxxterms.typeJournal Article/Reviewen


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