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Reference TypeConference Proceedings
Author(s)Mistry, M.;Buchli, J.;Schaal, S.
Year2010
TitleInverse dynamics control of floating base systems using orthogonal decomposition
Journal/Conference/Book TitleRobotics and Automation (ICRA), 2010 IEEE International Conference on
Keywordsclosed loop systems force control humanoid robots legged locomotion robot dynamics robot kinematics torque control approximate inverse dynamics solution closed loop kinematics constrained floating base rigid body systems contact forces estimatio
AbstractModel-based control methods can be used to enable fast, dexterous, and compliant motion of robots without sacrificing control accuracy. However, implementing such techniques on floating base robots, e.g., humanoids and legged systems, is non-trivial due to under-actuation, dynamically changing constraints from the environment, and potentially closed loop kinematics. In this paper, we show how to compute the analytically correct inverse dynamics torques for model-based control of sufficiently constrained floating base rigid-body systems, such as humanoid robots with one or two feet in contact with the environment. While our previous inverse dynamics approach relied on an estimation of contact forces to compute an approximate inverse dynamics solution, here we present an analytically correct solution by using an orthogonal decomposition to project the robot dynamics onto a reduced dimensional space, independent of contact forces. We demonstrate the feasibility and robustness of our approach on a simulated floating base bipedal humanoid robot and an actual robot dog locomoting over rough terrain.
Pages3406-3412
Date3-7 May 2010
Alternate Journal/TitleRobotics and Automation (ICRA), 2010 IEEE International Conference on
Short TitleInverse dynamics control of floating base systems using orthogonal decomposition
ISBN/ISSN1050-4729
URL(s) http://www-clmc.usc.edu/publications/M/mistry-ICRA2010.pdf

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