Walking on non-planar surfaces using an inverse dynamic stack of tasks

Ramos, Oscar E.; Mansard, Nicolas; Stasse, Olivier; Souères, Philippe

doi:10.1109/humanoids.2012.6651616

Cited by 9 publications

(6 citation statements)

References 17 publications

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“…Ott, Roa, & Hirzinger () demonstrated a balancing controller on a torque‐controlled humanoid, in which simple Proportional Derivative (PD) servos were used to generate a desired net ground reaction wrench, which was then distributed among predefined contacts using optimization. Ramos, Mansard, Stasse, & Soueres () described a recent effort using floating base inverse dynamics and ZMP‐based pattern generation for dynamic walking. Their inverse dynamics formulation solves a smaller QP with decoupled dynamics.…”

Section: Related Workmentioning

confidence: 99%

Optimization‐based Full Body Control for the DARPA Robotics Challenge

Feng

Whitman

Xinjilefu

et al. 2015

Journal of Field Robotics

203

133

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We describe our full body humanoid control approach developed for the simulation phase of the DARPA Robotics Challenge (DRC), as well as the modifications made for the DARPA Robotics Challenge Trials. We worked with the Boston Dynamics Atlas robot. Our approach was initially targeted at walking, and it consisted of two levels of optimization: a high-level trajectory optimizer that reasons about center of mass and swing foot trajectories, and a low-level controller that tracks those trajectories by solving floating base full body inverse dynamics using quadratic programming. This controller is capable of walking on rough terrain, and it also achieves long footsteps, fast walking speeds, and heel-strike and toe-off in simulation. During development of these and other whole body tasks on the physical robot, we introduced an additional optimization component in the low-level controller, namely an inverse kinematics controller. Modeling and torque measurement errors and hardware features of the Atlas robot led us to this three-part approach, which was applied to three tasks in the DRC Trials in December 2013. C 2014 Wiley Periodicals, Inc.

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Section: Related Workmentioning

confidence: 99%

Optimization‐based Full Body Control for the DARPA Robotics Challenge

Feng

Whitman

Xinjilefu

et al. 2015

Journal of Field Robotics

203

133

View full text Add to dashboard Cite

show abstract

“…Ott et al [13] use simple PD servos to generate a desired net ground reaction wrench, which is then distributed among predefined contacts using optimization. [14] solves a smaller QP with decoupled dynamics. [15] has a two stage optimization setup.…”

Section: Introductionmentioning

confidence: 99%

Optimization based full body control for the atlas robot

Feng

Whitman²,

Xinjilefu

et al. 2014

2014 IEEE-RAS International Conference on Humanoid Robots

150

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One popular approach to controlling humanoid robots is through inverse kinematics (IK) with stiff joint position tracking. On the other hand, inverse dynamics (ID) based approaches have gained increasing acceptance by providing compliant motions and robustness to external perturbations. However, the performance of such methods is heavily dependent on high quality dynamic models, which are often very difficult to produce for a physical robot. IK approaches only require kinematic models, which are much easier to generate in practice. In this paper, we supplement our previous work with ID-based controllers by adding IK, which helps compensate for modeling errors. The proposed full body controller is applied to three tasks in the DARPA Robotics Challenge (DRC) Trials in Dec. 2013.

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“…The dynamic SoT is a generic motion generator that can be used to execute any robot motion defined as a sequence of tasks. We have demonstrated its use for sitting in an armchair [24], predicting human behavior [21] or walking on uneven terrain [20]. We now propose to combine it with a motion capture system to facilitate robot programming and to quickly produce some complex and dynamic movements.…”

Section: From Motion Capture To Robot Motionmentioning

confidence: 99%

Dancing Humanoid Robots: Systematic Use of OSID to Compute Dynamically Consistent Movements Following a Motion Capture Pattern

Ramos

Mansard

Stasse

et al. 2015

IEEE Robot. Automat. Mag.

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In October 2012, the humanoid robot HRP-2 was presented during a live demonstration performing finebalanced dance movements with a human performer in front of more than 1000 people. This success was possible by the systematic use of operational-space inverse dynamics to compute dynamically consistent movements following a motion capture pattern demonstrated by a human choreographer. The first goal of this article is to give an overview of the efficient inverse-dynamics method used to generate the dance motion. Behind the methodological description, the second and main goal of the article is to present the robot dance as the first successful real-size implementation of inverse dynamics for humanoid-robot movement generation. This gives a proof of concept of the interest of inverse dynamics, which is more expressive than inverse kinematics and more computationally tractable than model-predictive control. It is, in our opinion, the topical method of choice for humanoid whole-body movement generation. The real-size demonstration also gave us some insight of nowadays methodological limits and the consequent future needed developments. 1 With this representation equalities are a special case when b i = b i and single-sided inequalities are special cases when b i = −∞ or b i = +∞.

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Walking on non-planar surfaces using an inverse dynamic stack of tasks

Cited by 9 publications

References 17 publications

Optimization‐based Full Body Control for the DARPA Robotics Challenge

Optimization‐based Full Body Control for the DARPA Robotics Challenge

Optimization based full body control for the atlas robot

Dancing Humanoid Robots: Systematic Use of OSID to Compute Dynamically Consistent Movements Following a Motion Capture Pattern

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