Inverse dynamics with optimal distribution of ground reaction forces for legged robots

L. Righetti, J. Buchli, M. Mistry, S. Schaal

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Contact interaction with the environment is crucial in the design of locomotion controllers for legged robots, to prevent slipping for example. Therefore, it is of great importance to be able to control the effects of the robots movements on the contact reaction forces. In this contribution, we extend a recent inverse dynamics algorithm for floating base robots to optimize the distribution of contact forces while achieving precise trajectory tracking. The resulting controller is algorithmically simple as compared to other approaches. Numerical simulations show that this result significantly increases the range of possible movements of a humanoid robot as compared to the previous inverse dynamics algorithm. We also present a simplification of the result where no inversion of the inertia matrix is needed which is particularly relevant for practical use on a real robot. Such an algorithm becomes interesting for agile locomotion of robots on difficult terrains where the contacts with the environment are critical, such as walking over rough or slippery terrain.

Original languageEnglish (US)
Title of host publicationEmerging Trends in Mobile Robotics- Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010
EditorsHideo Fujimoto, Mohammad O. Tokhi, Hiromi Mochiyama, Gurvinder S. Virk
PublisherWorld Scientific
Pages580-587
Number of pages8
ISBN (Print)9789814327978
DOIs
StatePublished - 2010
Event13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010 - Nagoya, Japan
Duration: Aug 31 2010Sep 3 2010

Publication series

NameEmerging Trends in Mobile Robotics- Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010

Conference

Conference13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010
CountryJapan
CityNagoya
Period8/31/109/3/10

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction

Fingerprint Dive into the research topics of 'Inverse dynamics with optimal distribution of ground reaction forces for legged robots'. Together they form a unique fingerprint.

Cite this