Dynamic whole-body motion generation under rigid contacts and other unilateral constraints
The most widely used technique for generating whole-body motions on a humanoid robot
accounting for various tasks and constraints is inverse kinematics. Based on the task …
accounting for various tasks and constraints is inverse kinematics. Based on the task …
Quadrupedal locomotion using hierarchical operational space control
This paper presents the application of operational space control based on hierarchical task
optimization for quadrupedal locomotion. We show how the behavior of a complex robotic …
optimization for quadrupedal locomotion. We show how the behavior of a complex robotic …
Improved computation of the humanoid centroidal dynamics and application for whole-body control
PM Wensing, DE Orin - International Journal of Humanoid Robotics, 2016 - World Scientific
The control of centroidal momentum has recently emerged as an important component of
whole-body humanoid control, resulting in emergent upper-body motions and increased …
whole-body humanoid control, resulting in emergent upper-body motions and increased …
Generalized hierarchical control
Multi-objective control systems for complex robots usually have to handle multiple prioritized
tasks. Most existing hierarchical control techniques handle either strict task priorities by …
tasks. Most existing hierarchical control techniques handle either strict task priorities by …
Prioritized motion–force control of constrained fully-actuated robots:“Task Space Inverse Dynamics”
We present a new framework for prioritized multi-task motion/force control of fully-actuated
robots. This work is established on a careful review and comparison of the state of the art …
robots. This work is established on a careful review and comparison of the state of the art …
A dedicated solver for fast operational-space inverse dynamics
N Mansard - 2012 IEEE International Conference on Robotics …, 2012 - ieeexplore.ieee.org
The most classical solution to generate whole-body motions on humanoid robots is to use
the inverse kinematics on a set of tasks. It enables flexibility, repeatability, sensor-feedback if …
the inverse kinematics on a set of tasks. It enables flexibility, repeatability, sensor-feedback if …
A whole-body control framework based on the operational space formulation under inequality constraints via task-oriented optimization
This paper presents practical enhancements of the operational space formulation (OSF) to
exploit inequality constraints for whole-body control of a high degree of freedom robot with a …
exploit inequality constraints for whole-body control of a high degree of freedom robot with a …
On the coordination of highly dynamic human movements: an extension of the Uncontrolled Manifold approach applied to precision jump in parkour
The human body generally has more degrees of freedom than necessary for generating a
given movement. According to the motor abundance principle, this redundancy is beneficial …
given movement. According to the motor abundance principle, this redundancy is beneficial …
Variance modulated task prioritization in whole-body control
Whole-Body Control methods offer the potential to execute several tasks on highly
redundant robots, such as humanoids. Unfortunately, task combinations often result in …
redundant robots, such as humanoids. Unfortunately, task combinations often result in …
Humanoids
Humanoid robots selectively immitate aspects of human form and behavior. Humanoids
come in a variety of shapes and sizes, from complete human-size legged robots to isolated …
come in a variety of shapes and sizes, from complete human-size legged robots to isolated …