A whole-body control framework for humanoids operating in human environments

Tomorrow's humanoids will operate in human environments, where efficient manipulation and locomotion skills, and safe contact interactions are critical design factors. We report here our recent efforts into these issues, materialized into a whole-body control framework. This framework integrate...

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Bibliographic Details
Published inProceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006 pp. 2641 - 2648
Main Authors Sentis, L., Khatib, O.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2006
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Summary:Tomorrow's humanoids will operate in human environments, where efficient manipulation and locomotion skills, and safe contact interactions are critical design factors. We report here our recent efforts into these issues, materialized into a whole-body control framework. This framework integrates task-oriented dynamic control and control prioritization allowing to control multiple task primitives while complying with physical and movement-related constraints. Prioritization establishes a hierarchy between control spaces, assigning top priority to constraint-handling tasks, while projecting operational tasks in the null space of the constraints, and controlling the posture within the residual redundancy. This hierarchy is directly integrated at the kinematic level, allowing the program to monitor behavior feasibility at runtime. In addition, prioritization allows us to characterize the dynamic behavior of the individual control primitives subject to the constraints, and to synthesize operational space controllers at multiple levels. To complete this framework, we have developed free-floating models of the humanoid and incorporate the associated dynamics and the effects of the resulting support contacts into the control hierarchy. As part of a long term collaboration with Honda, we are currently implementing this framework into the humanoid robot Asimo
ISBN:0780395050
9780780395053
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2006.1642100