An inverse dynamics-based multi-contact locomotion control framework without joint torque feedback. (16th November 2020)

• Record Type: Journal Article
• Authors: Cisneros-Limon, Rafael; Morisawa, Mitsuharu; Benallegue, Mehdi; Escande, Adrien; Kanehiro, Fumio
• Is Part Of: Advanced robotics. Volume 34:Number 21/22(2020)
• Page Start: 1398
• Page End: 1419
• Publication Date: 2020-11-16
• Subjects: Inverse dynamics -- QP-based control -- multi-contact locomotion -- balance control; Robotics -- Periodicals; Robotics -- Japan -- Periodicals; Robotics; Japan; Periodicals; 629.89205
• DOI: 10.1080/01691864.2020.1842140
• Languages: English
• ISSNs: 0169-1864

Abstract

Abstract : Humanoid robots are expected to evolve in complex environments performing parallel tasks including balance in multi-contact motion. Balance requires precise tracking of the contact forces, even in the presence of external disturbances. In this paper, we propose a framework to perform stabilization, force tracking, kinematic tasks, and disturbance-rejecting compliance with robots without joint torque feedback. The solution uses a QP with concurrent tasks to produce an inverse dynamics-based feed-forward torque together with kinematic feedback to achieve feasible Lyapunov-stable motions. The framework offers a range of task formulations and parameters as tools for fine force tracking, including an admittance-like task. This framework is tested in dynamic simulations with several locomotion scenarios in complex environments with continuous non-modeled disturbances. GRAPHICAL ABSTRACT: UF0001