Header logo is

Inverse dynamics with optimal distribution of ground reaction forces for legged robot

2010

Conference Paper

am

mg


Contact interaction with the environment is crucial in the design of locomotion controllers for legged robots, to prevent slipping for example. Therefore, it is of great importance to be able to control the effects of the robots movements on the contact reaction forces. In this contribution, we extend a recent inverse dynamics algorithm for floating base robots to optimize the distribution of contact forces while achieving precise trajectory tracking. The resulting controller is algorithmically simple as compared to other approaches. Numerical simulations show that this result significantly increases the range of possible movements of a humanoid robot as compared to the previous inverse dynamics algorithm. We also present a simplification of the result where no inversion of the inertia matrix is needed which is particularly relevant for practical use on a real robot. Such an algorithm becomes interesting for agile locomotion of robots on difficult terrains where the contacts with the environment are critical, such as walking over rough or slippery terrain.

Author(s): Righetti, L. and Buchli, J. and Mistry, M. and Schaal, S.
Book Title: Proceedings of the 13th International Conference on Climbing and Walking Robots (CLAWAR)
Pages: 580--587
Year: 2010
Month: sep

Department(s): Autonomous Motion, Movement Generation and Control
Bibtex Type: Conference Paper (inproceedings)

DOI: 10.1142/9789814329927_0072

Address: Nagoya, Japan

BibTex

@inproceedings{righetti_inverse_2010,
  title = {Inverse dynamics with optimal distribution of ground reaction forces for legged robot},
  author = {Righetti, L. and Buchli, J. and Mistry, M. and Schaal, S.},
  booktitle = {Proceedings of the 13th {International} {Conference} on {Climbing} and {Walking} {Robots} ({CLAWAR})},
  pages = {580--587},
  address = {Nagoya, Japan},
  month = sep,
  year = {2010},
  month_numeric = {9}
}