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Inverse Dynamics Control of Floating-Base Robots with External Constraints: a Unified View


Conference Paper



Inverse dynamics controllers and operational space controllers have proved to be very efficient for compliant control of fully actuated robots such as fixed base manipulators. However legged robots such as humanoids are inherently different as they are underactuated and subject to switching external contact constraints. Recently several methods have been proposed to create inverse dynamics controllers and operational space controllers for these robots. In an attempt to compare these different approaches, we develop a general framework for inverse dynamics control and show that these methods lead to very similar controllers. We are then able to greatly simplify recent whole-body controllers based on operational space approaches using kinematic projections, bringing them closer to efficient practical implementations. We also generalize these controllers such that they can be optimal under an arbitrary quadratic cost in the commands.

Author(s): Righetti, L. and Buchli, J. and Mistry, M. and Schaal, S.
Book Title: 2011 IEEE International Conference on Robotics and Automation
Pages: 1085--1090
Year: 2011
Publisher: IEEE

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

DOI: 10.1109/ICRA.2011.5980156

Address: Shanghai, China
URL: https://ieeexplore.ieee.org/abstract/document/5980156/


  title = {Inverse {Dynamics} {Control} of {Floating}-{Base} {Robots} with {External} {Constraints}: a {Unified} {View}},
  author = {Righetti, L. and Buchli, J. and Mistry, M. and Schaal, S.},
  booktitle = {2011 {IEEE} {International} {Conference} on {Robotics} and {Automation}},
  pages = {1085--1090},
  publisher = {IEEE},
  address = {Shanghai, China},
  year = {2011},
  url = {https://ieeexplore.ieee.org/abstract/document/5980156/}