|
|
| Record Number | 2597 |
| Reference Type | Conference Proceedings |
| Author(s) | Nakanishi, J.;Mistry, M.;Schaal, S. |
| Year | 2007 |
| Title | Inverse dynamics control with floating base and constraints |
| Journal/Conference/Book Title | International Conference on Robotics and Automation (ICRA2007) |
Abstract |
In this paper, we address the issues of compliant
control of a robot under contact constraints with a goal of using
joint space based pattern generators as movement primitives,
as often considered in the studies of legged locomotion and
biological motor control. For this purpose, we explore inverse
dynamics control of constrained dynamical systems. When the
system is overconstrained, it is not straightforward to formulate
an inverse dynamics control law since the problem becomes
an ill-posed one, where infinitely many combinations of joint
torques are possible to achieve the desired joint accelerations.
The goal of this paper is to develop a general and computationally
efficient inverse dynamics algorithm for a robot
with a free floating base and constraints. We suggest an
approximate way of computing inverse dynamics algorithm by
treating constraint forces computed with a Lagrange multiplier
method as simply external forces based on FeatherstoneÕs
floating base formulation of inverse dynamics. We present how
all the necessary quantities to compute our controller can be
efficiently extracted from FeatherstoneÕs spatial notation of
robot dynamics. We evaluate the effectiveness of the suggested
approach on a simulated biped robot model.
|
| Notes | clmc |
| URL(s) | http://www-clmc.usc.edu/publications/nakanishi-ICRA2007.pdf
|
| Place Published | Rome, Italy, April 10-14 |
| Pages | 1942-1947 |
| Short Title | Inverse dynamics control with floating base and constraints |
| Papers are available as Adobe PDF ".pdf" files. Adobe Reader is available for free for all computer platforms.
|
|
|
|
|
Page last modified on August 10, 2006, at 06:47 PM
|
|
