Name
Title | ||
|---|---|---|
An Inverse Dynamics-Based Multi-Contact Locomotion Control Framework Without Joint Torque Feedback |
Abstract | ||
|---|---|---|
Humanoid robots are expected to evolve in complex environments performing parallel tasks including balance in multi-contact motion. Balance requires precise tracking of the contact forces, even in the presence of external disturbances. In this paper, we propose a framework to perform stabilization, force tracking, kinematic tasks, and disturbance-rejecting compliance with robots without joint torque feedback. The solution uses a QP with concurrent tasks to produce an inverse dynamics-based feed-forward torque together with kinematic feedback to achieve feasible Lyapunov-stable motions. The framework offers a range of task formulations and parameters as tools for fine force tracking, including an admittance-like task. This framework is tested in dynamic simulations with several locomotion scenarios in complex environments with continuous non-modeled disturbances. |
Year | DOI | Venue |
|---|---|---|
2020 | 10.1080/01691864.2020.1842140 | ADVANCED ROBOTICS |
Keywords | DocType | Volume |
Inverse dynamics, QP-based control, multi-contact locomotion, balance control | Journal | 34 |
Issue | ISSN | Citations |
21-22 | 0169-1864 | 0 |
PageRank | References | Authors |
0.34 | 0 | 5 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| R. Cisneros Limon | 1 | 8 | 3.64 |
| Mitsuharu Morisawa | 2 | 647 | 49.09 |
| Mehdi Benallegue | 3 | 30 | 10.89 |
| Adrien Escande | 4 | 273 | 22.91 |
| Fumio KANEHIRO | 5 | 2304 | 204.18 |