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| Record Number | 2007 |
| Reference Type | Conference Proceedings |
| Author(s) | Nakanishi, J.;Cory, R.;Mistry, M.;Peters, J.;Schaal, S. |
| Year | 2005 |
| Title | Comparative experiments on task space control with redundancy resolution |
| Journal/Conference/Book Title | IEEE International Conference on Intelligent Robots and Systems (IROS 2005) |
| Keywords | manipulator 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 |
Abstract |
Understanding 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.
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| Notes | clmc |
| URL(s) | http://www-clmc.usc.edu/publications/N/nakanishi-IROS2005.pdf
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| Place Published | Edmonton, Alberta, Canada, Aug. 2-6 |
| Pages | 3901-3908 |
| Short Title | Comparative experiments on task space control with redundancy resolution |
| Papers are available as Adobe PDF ".pdf" files. Adobe Reader is available for free for all computer platforms.
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Page last modified on August 10, 2006, at 06:47 PM
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