Momentum-Centered control of contact interactions

Ludovic Righetti, Alexander Herzog

Research output: Chapter in Book/Report/Conference proceedingChapter

Abstract

The control and planning of interaction forces is fundamental for locomotion and manipulation tasks since it is through the interaction with the environment that a robot can walk forward or manipulate objects. In this chapter we present a control and planning strategy focused on the control of interaction forces to generate multi-contact whole-body behaviors. Centered around the robot momentum dynamics, our approach consists of a hierarchical inverse dynamics controller that treats the control of the robot’s momentum as a contact force task and a trajectory optimization algorithm that can generate desired whole-body motions, momentum and desired contact forces for multiple contacts. Experimental results demonstrate the capabilities of the approach on a humanoid robot.

Original languageEnglish (US)
Title of host publicationSpringer Tracts in Advanced Robotics
PublisherSpringer Verlag
Pages339-359
Number of pages21
DOIs
StatePublished - 2017

Publication series

NameSpringer Tracts in Advanced Robotics
Volume117
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence

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  • Cite this

    Righetti, L., & Herzog, A. (2017). Momentum-Centered control of contact interactions. In Springer Tracts in Advanced Robotics (pp. 339-359). (Springer Tracts in Advanced Robotics; Vol. 117). Springer Verlag. https://doi.org/10.1007/978-3-319-51547-2_14