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Reference TypeConference Proceedings
Author(s)Peters, J.;Mistry, M.;Udwadia, F. E.;Cory, R.;Nakanishi, J.;Schaal, S.
Year2005
TitleA unifying framework for the control of robotics systems
Journal/Conference/Book TitleIEEE International Conference on Intelligent Robots and Systems (IROS 2005)
AbstractRecently, [1] suggested to derive tracking controllers for mechanical systems using a generalization of GaussÕ principle of least constraint. This method al-lows us to reformulate control problems as a special class of optimal control. We take this line of reasoning one step further and demonstrate that well-known and also several novel nonlinear robot control laws can be derived from this generic methodology. We show experimental verifications on a Sar-cos Master Arm robot for some of the the derived controllers.We believe that the suggested approach offers a promising unification and simplification of nonlinear control law design for robots obeying rigid body dynamics equa-tions, both with or without external constraints, with over-actuation or under-actuation, as well as open-chain and closed-chain kinematics.
Place PublishedEdmonton, Alberta, Canada, Aug. 2-6
Pages1824-1831
Short TitleA unifying framework for the control of robotics systems
URL(s) http://www-clmc.usc.edu/publications/P/peters-IROS2005.pdf

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