Name
Title | ||
|---|---|---|
Quadratic programming for inverse dynamics with optimal distribution of contact forces |
Abstract | ||
|---|---|---|
In this contribution we propose an inverse dynamics controller for a humanoid robot that exploits torque redundancy to minimize any combination of linear and quadratic costs in the contact forces and the commands. In addition the controller satisfies linear equality and inequality constraints in the contact forces and the commands such as torque limits, unilateral contacts or friction cones limits. The originality of our approach resides in the formulation of the problem as a quadratic program where we only need to solve for the control commands and where the contact forces are optimized implicitly. Furthermore, we do not need a structured representation of the dynamics of the robot (i.e. an explicit computation of the inertia matrix). It is in contrast with existing methods based on quadratic programs. The controller is then robust to uncertainty in the estimation of the dynamics model and the optimization is fast enough to be implemented in high bandwidth torque control loops that are increasingly available on humanoid platforms. We demonstrate properties of our controller with simulations of a human size humanoid robot. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1109/HUMANOIDS.2012.6651572 | Humanoid Robots |
Keywords | Field | DocType |
force control,friction,humanoid robots,optimal control,quadratic programming,robot dynamics,torque control,friction cones limits,high bandwidth torque control loops,human size humanoid robot,humanoid platforms,humanoid robot,inequality constraints,inverse dynamics controller,linear costs,linear equality,optimal contact forces distribution,optimization,quadratic costs,quadratic programming,torque redundancy,unilateral contacts | Control theory,Mathematical optimization,Optimal control,Control theory,Computer science,Contact force,Quadratic equation,Inverse dynamics,Quadratic programming,Sylvester's law of inertia,Humanoid robot | Conference |
ISSN | Citations | PageRank |
2164-0572 | 12 | 0.76 |
References | Authors | |
11 | 2 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Ludovic Righetti | 1 | 711 | 54.91 |
| Stefan Schaal | 2 | 6081 | 530.10 |