Multiobjective control with frictional contacts
SCA '07 Proceedings of the 2007 ACM SIGGRAPH/Eurographics symposium on Computer animation
Rigid Body Dynamics Algorithms
Rigid Body Dynamics Algorithms
A unifying framework for robot control with redundant DOFs
Autonomous Robots
Synthesis and control of whole-body behaviors in humanoid systems
Synthesis and control of whole-body behaviors in humanoid systems
Robotics: Modelling, Planning and Control
Robotics: Modelling, Planning and Control
Compliant quadruped locomotion over rough terrain
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Compliant control of multicontact and center-of-mass behaviors in humanoid robots
IEEE Transactions on Robotics
Learning, planning, and control for quadruped locomotion over challenging terrain
International Journal of Robotics Research
Full-Body Compliant Human–Humanoid Interaction: Balancing in the Presence of Unknown External Forces
IEEE Transactions on Robotics
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The development of legged robots for complex environments requires controllers that guarantee both high tracking performance and compliance with the environment. More specifically the control of the contact interaction with the environment is of crucial importance to ensure stable, robust and safe motions. In this contribution we develop an inverse-dynamics controller for floating-base robots under contact constraints that can minimize any combination of linear and quadratic costs in the contact constraints and the commands. Our main result is the exact analytical derivation of the controller. Such a result is particularly relevant for legged robots as it allows us to use torque redundancy to directly optimize contact interactions. For example, given a desired locomotion behavior, we can guarantee the minimization of contact forces to reduce slipping on difficult terrains while ensuring high tracking performance of the desired motion. The main advantages of the controller are its simplicity, computational efficiency and robustness to model inaccuracies. We present detailed experimental results on simulated humanoid and quadruped robots as well as a real quadruped robot. The experiments demonstrate that the controller can greatly improve the robustness of locomotion of the robots.1