Robust Whole-Body Motion Control of Legged Robots

被引:0
作者
Farshidian, Farbod [1 ]
Jelavic, Edo [1 ]
Winkler, Alexander W. [1 ]
Buchli, Jonas [1 ]
机构
[1] Swiss Fed Inst Technol, Agile & Dexterous Robot Lab, Zurich, Switzerland
来源
2017 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | 2017年
基金
瑞士国家科学基金会;
关键词
D O I
暂无
中图分类号
TP18 [人工智能理论];
学科分类号
081104 ; 0812 ; 0835 ; 1405 ;
摘要
We introduce a robust control architecture for the whole-body motion control of torque controlled robots with arms and legs. The method is based on the robust control of contact forces in order to track a planned Center of Mass trajectory. Its appeal lies in the ability to guarantee robust stability and performance despite rigid body model mismatch, actuator dynamics, delays, contact surface stiffness, and unobserved ground profiles. Furthermore, we introduce a task space decomposition approach which removes the coupling effects between contact force controller and the other non-contact controllers. Finally, we verify our control performance on a quadruped robot and compare its performance to a standard inverse dynamics approach on hardware.
引用
收藏
页码:4589 / 4596
页数:8
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