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A Whole-Body Control Framework Based on the Operational Space Formulation Under Inequality Constraints via Task-Oriented Optimization

Lee, Yisoo and Kim, Sanghyun and Park, Jaeheung and Tsagarakis, Nikos and Lee, Jinoh (2021) A Whole-Body Control Framework Based on the Operational Space Formulation Under Inequality Constraints via Task-Oriented Optimization. IEEE Access, 9, pp. 39813-39826. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/ACCESS.2021.3064151. ISSN 2169-3536.

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Official URL: http://dx.doi.org/10.1109/ACCESS.2021.3064151

Abstract

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 floating base and multiple contacts, such as humanoids. A task-oriented optimisation method is developed to obtain a feasible torque resolution solely for task variables based on the OSF, which effectively reduces the number of optimisation variables. Interestingly, the proposed scheme amends assigned tasks on demand of satisfying inequality conditions, while dynamic consistency among contact-constrained tasks is preserved. In addition, we propose an efficient algorithm structure ameliorating real-time control capability which has been a major hurdle to transplant optimisation methods into the OSF-based whole-body control framework. Control performance, the feasibility of the optimised solution, and the computation time of the proposed control framework are verified through realistic dynamic simulations of a humanoid. We also clarify the pros and cons of the proposed method compared with existing optimisation-based ones, which may offer an insight for practical control engineers to select whole-body controllers necessitated from the desired application.

Item URL in elib:https://elib.dlr.de/141569/
Document Type:Article
Additional Information:J. Lee is the corresponding author.
Title:A Whole-Body Control Framework Based on the Operational Space Formulation Under Inequality Constraints via Task-Oriented Optimization
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Lee, YisooKorea Institute of Science and Technology (KIST)UNSPECIFIED
Kim, SanghyunKorea Institute of Machinery and Materials (KIMM)UNSPECIFIED
Park, JaeheungSeoul National UniversityUNSPECIFIED
Tsagarakis, NikosIstituto Italiano di TecnologiaUNSPECIFIED
Lee, JinohJinoh.Lee (at) dlr.dehttps://orcid.org/0000-0002-4901-7095
Date:March 2021
Journal or Publication Title:IEEE Access
Refereed publication:Yes
Open Access:Yes
Gold Open Access:Yes
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:9
DOI :10.1109/ACCESS.2021.3064151
Page Range:pp. 39813-39826
Publisher:IEEE - Institute of Electrical and Electronics Engineers
ISSN:2169-3536
Status:Published
Keywords:The operational space formulation (OSF); highly redundant robots; whole-body control; inequality constraints
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Walking robot/locomotion [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Lee, Dr. Jinoh
Deposited On:28 Apr 2021 14:46
Last Modified:28 Apr 2021 14:46

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