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dc.contributor.authorPrete, ADen
dc.contributor.authorMansard, Nen
dc.contributor.authorNori, Fen
dc.contributor.authorMetta, Gen
dc.contributor.authorNatale, Len
dc.date.accessioned2017-06-23T15:43:54Z
dc.date.available2017-06-23T15:43:54Z
dc.date.issued2014-10-16en
dc.identifier.urihttp://hdl.handle.net/10026.1/9533
dc.descriptionPre-print of paper presented at Intelligent Robots and Systems (IROS 2014), IEEE International Conference on, Chicago, USA, 2014en
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.isoenen
dc.subjectcs.ROen
dc.subjectcs.ROen
dc.titlePartial Force Control of Constrained Floating-Base Robotsen
dc.typeJournal Article
plymouth.author-urlhttp://arxiv.org/abs/1410.4426v1en
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.embargoperiodNot knownen
rioxxterms.licenseref.urihttp://www.rioxx.net/licenses/all-rights-reserveden
rioxxterms.typeJournal Article/Reviewen


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