A Dedicated Solver for Fast Operational-Space Inverse Dynamics

Abstract : 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, sensorfeedback if needed, and can be applied in real time onboard the robot. However, it cannot comprehend the whole complexity of the robot dynamics. Inverse dynamics is then a mandatory evolution. Before application as a generic motion generator, two important concerns need to be solved. First, when including in the motion-generation problem the forces and torques variables, the numerical conditioning can become very low, inducing undesired behaviors or even divergence. Second, the computational costs of the problem resolution is much more important than when considering the kinematics alone. This paper proposes a complete reformulation of the inverse-dynamics problem, by cutting the ill-conditioned part of the problem, solving in a same way the problem of numerical stability and of cost reduction. The approach is validated by a set of dynamic whole-body movements of the HRP-2 robot.
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Communication dans un congrès
2012 IEEE International Conference on Robotics and Automation, May 2012, St Paul, United States. pp.4943-4949, 2012
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Soumis le : mardi 12 juin 2012 - 11:09:26
Dernière modification le : mercredi 12 décembre 2018 - 15:17:25
Document(s) archivé(s) le : jeudi 13 septembre 2012 - 02:27:27

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Nicolas Mansard. A Dedicated Solver for Fast Operational-Space Inverse Dynamics. 2012 IEEE International Conference on Robotics and Automation, May 2012, St Paul, United States. pp.4943-4949, 2012. 〈hal-00707200〉

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