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 multi-task 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-of-freedom 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.
DOI
10.1109/iros.2014.6943010
Publication Date
2014-09-01
Event
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014)
Publication Title
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher
IEEE
Embargo Period
2024-11-22
Recommended Citation
Del Prete, A., Mansard, N., Nori, F., Metta, G., & Natale, L. (2014) 'Partial force control of constrained floating-base robots', 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, . IEEE: Available at: https://doi.org/10.1109/iros.2014.6943010
