Partial Force Control of Constrained Floating-Base Robots
dc.contributor.author | Prete, AD | en |
dc.contributor.author | Mansard, N | en |
dc.contributor.author | Nori, F | en |
dc.contributor.author | Metta, G | en |
dc.contributor.author | Natale, L | en |
dc.date.accessioned | 2017-06-23T15:43:54Z | |
dc.date.available | 2017-06-23T15:43:54Z | |
dc.date.issued | 2014-10-16 | en |
dc.identifier.uri | http://hdl.handle.net/10026.1/9533 | |
dc.description | Pre-print of paper presented at Intelligent Robots and Systems (IROS 2014), IEEE International Conference on, Chicago, USA, 2014 | en |
dc.description.abstract |
Legged robots are typically in rigid contact with the environment at multiple locations, which add a degree of complexity to their control. We present a method to control the motion and a subset of the contact forces of a floating-base robot. We derive a new formulation of the lexicographic optimization problem typically arising in multitask motion/force control frameworks. The structure of the constraints of the problem (i.e. the dynamics of the robot) allows us to find a sparse analytical solution. This leads to an equivalent optimization with reduced computational complexity, comparable to inverse-dynamics based approaches. At the same time, our method preserves the flexibility of optimization based control frameworks. Simulations were carried out to achieve different multi-contact behaviors on a 23-degree-offreedom humanoid robot, validating the presented approach. A comparison with another state-of-the-art control technique with similar computational complexity shows the benefits of our controller, which can eliminate force/torque discontinuities. | en |
dc.language.iso | en | en |
dc.subject | cs.RO | en |
dc.subject | cs.RO | en |
dc.title | Partial Force Control of Constrained Floating-Base Robots | en |
dc.type | Journal Article | |
plymouth.author-url | http://arxiv.org/abs/1410.4426v1 | en |
plymouth.organisational-group | /Plymouth | |
plymouth.organisational-group | /Plymouth/Faculty of Science and Engineering | |
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.embargoperiod | Not known | en |
rioxxterms.licenseref.uri | http://www.rioxx.net/licenses/all-rights-reserved | en |
rioxxterms.type | Journal Article/Review | en |