A unifying framework for robot control with redundant DOFs

Authors:
Jan Peters;Michael Mistry;Firdaus Udwadia;Jun Nakanishi;Stefan Schaal
Affiliations:
University of Southern California, Los Angeles, USA 90089 and Department Schölkopf, Max-Planck Institute for Biological Cybernetics, Tübingen, Germany 72076;University of Southern California, Los Angeles, USA 90089;University of Southern California, Los Angeles, USA 90089;ATR Computational Neuroscience Laboratories, Kyoto, Japan 619-0288 and ICORP, Japan Science and Technology Agency, Kyoto, Japan 619-0288;University of Southern California, Los Angeles, USA 90089 and ATR Computational Neuroscience Laboratories, Kyoto, Japan 619-0288
Venue:
Autonomous Robots
Year:
2008

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Abstract

Recently, Udwadia (Proc. R. Soc. Lond. A 2003:1783---1800, 2003) suggested to derive tracking controllers for mechanical systems with redundant degrees-of-freedom (DOFs) using a generalization of Gauss' principle of least constraint. This method allows reformulating control problems as a special class of optimal controllers. In this paper, we take this line of reasoning one step further and demonstrate that several well-known and also novel nonlinear robot control laws can be derived from this generic methodology. We show experimental verifications on a Sarcos Master Arm robot for some of the derived controllers. The suggested approach offers a promising unification and simplification of nonlinear control law design for robots obeying rigid body dynamics equations, both with or without external constraints, with over-actuation or underactuation, as well as open-chain and closed-chain kinematics.