TY - GEN
T1 - Model-based control and estimation of humanoid robots via orthogonal decomposition
AU - Mistry, Michael
AU - Murai, Akihiko
AU - Yamane, Katsu
AU - Hodgins, Jessica
PY - 2014
Y1 - 2014
N2 - Model-based control techniques, which use a model of robot dynamics to compute force/torque control commands, have a proven record for achieving accuracy and compliance in force-controllable robot manipulators. However, applying such methods to humanoid and legged systems has yet to happen due to challenges such as: 1) under-actuation inherent in these floating base systems, 2) dynamically changing contact states with potentially unknown contact forces, 3) and the difficulty of accurately modeling these high degree of freedom systems, especially with inadequate sensing. In this work, we present a relatively simple technique for fullbody model-based control and estimation of humanoid robot, using an orthogonal decomposition of rigid-body dynamics. Doing so simplifies the problem by reducing control and estimation to only those variables critical for the task. We present some of our recent evaluations of our approaches on the CarnegieMellon/Sarcos hydraulic force-controllable humanoid robot, engaging in dynamic tasks with contact state changes, such as standing up from a chair.
AB - Model-based control techniques, which use a model of robot dynamics to compute force/torque control commands, have a proven record for achieving accuracy and compliance in force-controllable robot manipulators. However, applying such methods to humanoid and legged systems has yet to happen due to challenges such as: 1) under-actuation inherent in these floating base systems, 2) dynamically changing contact states with potentially unknown contact forces, 3) and the difficulty of accurately modeling these high degree of freedom systems, especially with inadequate sensing. In this work, we present a relatively simple technique for fullbody model-based control and estimation of humanoid robot, using an orthogonal decomposition of rigid-body dynamics. Doing so simplifies the problem by reducing control and estimation to only those variables critical for the task. We present some of our recent evaluations of our approaches on the CarnegieMellon/Sarcos hydraulic force-controllable humanoid robot, engaging in dynamic tasks with contact state changes, such as standing up from a chair.
UR - http://www.scopus.com/inward/record.url?scp=84922643290&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-28572-1_58
DO - 10.1007/978-3-642-28572-1_58
M3 - Conference contribution
AN - SCOPUS:84922643290
SN - 9783642285714
VL - 79
T3 - Springer Tracts in Advanced Robotics
SP - 839
EP - 854
BT - Experimental Robotics
A2 - Khatib, Oussama
A2 - Kumar, Vijay
A2 - Sukhatme , Gaurav
PB - Springer
T2 - 12th International Symposium on Experimental Robotics, ISER 2010
Y2 - 18 December 2010 through 21 December 2010
ER -