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Reference TypeConference Proceedings
Author(s)Nakanishi, J.;Cory, R.;Mistry, M.;Peters, J.;Schaal, S.
TitleComparative experiments on task space control with redundancy resolution
Journal/Conference/Book TitleIEEE International Conference on Intelligent Robots and Systems (IROS 2005)
Keywordsmanipulator dynamics redundant manipulators space optimization dynamical decoupling humanoid robots inverse kinematics motor coordination redundancy resolution robot dynamics seven-degree-of-freedom anthropomorphic robot arm task space control Dynamical d
AbstractUnderstanding the principles of motor coordination with redundant degrees of freedom still remains a challenging problem, particularly for new research in highly redundant robots like humanoids. Even after more than a decade of research, task space control with redundacy resolution still remains an incompletely understood theoretical topic, and also lacks a larger body of thorough experimental investigation on complex robotic systems. This paper presents our first steps towards the development of a working redundancy resolution algorithm which is robust against modeling errors and unforeseen disturbances arising from contact forces. To gain a better understanding of the pros and cons of different approaches to redundancy resolution, we focus on a comparative empirical evaluation. First, we review several redundancy resolution schemes at the velocity, acceleration and torque levels presented in the literature in a common notational framework and also introduce some new variants of these previous approaches. Second, we present experimental comparisons of these approaches on a seven-degree-of-freedom anthropomorphic robot arm. Surprisingly, one of our simplest algorithms empirically demonstrates the best performance, despite, from a theoretical point, the algorithm does not share the same beauty as some of the other methods. Finally, we discuss practical properties of these control algorithms, particularly in light of inevitable modeling errors of the robot dynamics.
Place PublishedEdmonton, Alberta, Canada, Aug. 2-6
Short TitleComparative experiments on task space control with redundancy resolution

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