Model-based control and estimation of humanoid robots via orthogonal decomposition
Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
Authors
Colleges, School and Institutes
External organisations
- Disney Research Pittsburgh
- Disney Research Pittsburgh (DRP)
Abstract
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.
Details
Original language | English |
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Title of host publication | Experimental Robotics |
Subtitle of host publication | 12th International Symposium on Experimental Robotics |
Editors | Oussama Khatib, Vijay Kumar, Gaurav Sukhatme |
Publication status | Published - 2014 |
Event | 12th International Symposium on Experimental Robotics, ISER 2010 - New Delhi, Agra, India Duration: 18 Dec 2010 → 21 Dec 2010 |
Publication series
Name | Springer Tracts in Advanced Robotics |
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Volume | 79 |
ISSN (Print) | 16107438 |
ISSN (Electronic) | 1610742X |
Conference
Conference | 12th International Symposium on Experimental Robotics, ISER 2010 |
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Country | India |
City | New Delhi, Agra |
Period | 18/12/10 → 21/12/10 |