Generic dynamic motion generation with multiple unilateral constraints

Saab, Layale; Ramos, Oscar E.; Mansard, Nicolas; Souères, Philippe; Fourquet, J-Y.

doi:10.1109/iros.2011.6094795

Cited by 15 publications

(3 citation statements)

References 17 publications

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“…The second experiment is a tracking task, demonstrating that tracking accuracy in operational space can still be achieved. It is, to the best of our knowledge, the first demonstration of the applicability of the methods proposed in [13] or [6] as feedback controllers on torque controlled humanoids (i.e. without joint space PD control).…”

Section: Introductionmentioning

confidence: 87%

“…Robots with torque control capabilities [1], [2], including humanoids [3], [4], are becoming increasingly available and torque control algorithms are therefore necessary to fully exploit their capabilities. Indeed, such algorithms often offer high performance for motion control while guaranteeing a certain level of compliance [2], [5], [6], [7]. In addition, they also allow for the direct control of contact interactions with the environment [1], [8], [9], which is required during operation in dynamic and uncertain environments.…”

Section: Introductionmentioning

confidence: 99%

“…Recent approaches for controlling hierarchies of tasks using the full dynamics of the robot are also very promising [13], [6], [14]. Their problem formulations are more general than approaches based on pseudo-inverses as they naturally allow the inclusion of arbitrary types of tasks including inequalities.…”

Section: Introductionmentioning

confidence: 99%

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Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics

Herzog

Righetti

Grimminger

et al. 2014

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

119

111

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Recently several hierarchical inverse dynamics controllers based on cascades of quadratic programs have been proposed for application on torque controlled robots. They have important theoretical benefits but have never been implemented on a torque controlled robot where model inaccuracies and real-time computation requirements can be problematic. In this contribution we present an experimental evaluation of these algorithms in the context of balance control for a humanoid robot. The presented experiments demonstrate the applicability of the approach under real robot conditions (i.e. model uncertainty, estimation errors, etc). We propose a simplification of the optimization problem that allows us to decrease computation time enough to implement it in a fast torque control loop. We implement a momentum-based balance controller which shows robust performance in face of unknown disturbances, even when the robot is standing on only one foot. In a second experiment, a tracking task is evaluated to demonstrate the performance of the controller with more complicated hierarchies. Our results show that hierarchical inverse dynamics controllers can be used for feedback control of humanoid robots and that momentum-based balance control can be efficiently implemented on a real robot.

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Section: Introductionmentioning

confidence: 87%

Section: Introductionmentioning

confidence: 99%

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Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics

Herzog

Righetti

Grimminger

et al. 2014

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

119

111

View full text Add to dashboard Cite

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Studying the Effect of Different Optimization Criteria on Humanoid Walking Motions

Koch

Mombaur

Souères

2012

Simulation, Modeling, and Programming for Autonomous Robots

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Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot

et al. 2015

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This paper describes a collection of optimization algorithms for achieving dynamic planning, control, and state estimation for a bipedal robot designed to operate reliably in complex environments. To make challenging locomotion tasks tractable, we describe several novel applications of convex, mixed-integer, and sparse nonlinear optimization to problems ranging from footstep placement to whole-body planning and control. We also present a state estimator formulation that, when combined with our walking controller, permits highly precise execution of extended walking plans over non-flat terrain. We describe our complete system integration and experiments carried out on Atlas, a full-size hydraulic humanoid robot built by Boston Dynamics, Inc.

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Generic dynamic motion generation with multiple unilateral constraints

Cited by 15 publications

References 17 publications

Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics

Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics

Studying the Effect of Different Optimization Criteria on Humanoid Walking Motions

Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot

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