Journal ArticleDOI
Design of a Momentum-Based Control Framework and Application to the Humanoid Robot Atlas
Twan Koolen,Sylvain Bertrand,Gray C. Thomas,Tomas De Boer,Tingfan Wu,Jesper Smith,Johannes Englsberger,Jerry Pratt +7 more
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A momentum-based control framework for floating-base robots and its application to the humanoid robot “Atlas” is presented and results for walking across rough terrain, basic manipulation, and multi-contact balancing on sloped surfaces are presented.Abstract:
This paper presents a momentum-based control framework for floating-base robots and its application to the humanoid robot “Atlas”. At the heart of the control framework lies a quadratic program that reconciles motion tasks expressed as constraints on the joint acceleration vector with the limitations due to unilateral ground contact and force-limited grasping. We elaborate on necessary adaptations required to move from simulation to real hardware and present results for walking across rough terrain, basic manipulation, and multi-contact balancing on sloped surfaces (the latter in simulation only). The presented control framework was used to secure second place in both the DARPA Robotics Challenge Trials in December 2013 and the Finals in June 2015.read more
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Posted Content
Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and Model Predictive Control.
TL;DR: This paper proposes a controller combining whole-body control (WBC) and model predictive control (MPC), which finds an optimal reaction force profile over a longer time horizon with a simple model and WBC computes joint torque, position, and velocity commands based on the reaction forces computed from MPC.
Proceedings ArticleDOI
Planning robust walking motion on uneven terrain via convex optimization
Hongkai Dai,Russ Tedrake +1 more
TL;DR: This paper presents a convex optimization problem to generate Center of Mass (CoM) and momentum trajectories of a walking robot, such that the motion robustly satisfies the friction cone constraints on uneven terrain, and aims to maximize the CWC margin to improve the robustness of the motion, and minimize the centroidal angular momentum to make the motion natural.
Proceedings ArticleDOI
Optimization based controller design and implementation for the Atlas robot in the DARPA Robotics Challenge Finals
TL;DR: The design and hardware implementation of the proposed walking and manipulation controllers that are based on a cascade of online optimizations are described, which have been implemented on the Atlas robot, a full size humanoid robot built by Boston Dynamics, and used in the DARPA Robotics Challenge Finals.
Proceedings ArticleDOI
Robust dynamic walking using online foot step optimization
TL;DR: The new controller consists of three hierarchies: a center of mass (CoM) trajectory planner that follows a sequence of desired foot steps, a receding-horizon controller that optimizes the next foot placement to minimize future CoM tracking errors, and an inverse dynamics based full body controller that generates instantaneous joint commands to track these motions while obeying physical constraints.
Proceedings ArticleDOI
Stability analysis and design of momentum-based controllers for humanoid robots
TL;DR: In this paper, a Lyapunov analysis on the linearized system's joint space is used to show that momentum-based control strategies may lead to unstable zero dynamics and propose simple modifications to the control architecture that avoid instabilities at the zero-dynamics level.
References
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Book
A Mathematical Introduction to Robotic Manipulation
TL;DR: In this paper, the authors present a detailed overview of the history of multifingered hands and dextrous manipulation, and present a mathematical model for steerable and non-driveable hands.
Book
Robot Modeling and Control
TL;DR: In this paper, the Jacobian is used to describe the relationship between rigid motions and homogeneous transformations, and a linear algebraic approach is proposed for vision-based control of dynamical systems.
Journal ArticleDOI
A unified approach for motion and force control of robot manipulators: The operational space formulation
TL;DR: A framework for the analysis and control of manipulator systems with respect to the dynamic behavior of their end-effectors is developed, and the unified approach for motion and force control is developed.
Book
Rigid Body Dynamics Algorithms
TL;DR: Rigid Body Dynamics Algorithms presents the subject of computational rigid-body dynamics through the medium of spatial 6D vector notation to facilitate the implementation of dynamics algorithms on a computer: shorter, simpler code that is easier to write, understand and debug, with no loss of efficiency.
Journal ArticleDOI
Comparing ICP variants on real-world data sets
TL;DR: A protocol that allows for a comparison between ICP variants, taking into account a broad range of inputs, and an open-source ICP library, which is fast enough to be usable in multiple real-world applications, while being modular enough to ease comparison of multiple solutions.