Whole-Body Motion Synthesis with LQP-Based Controller - Application to iCub

Joseph Salini (1) , Sébastien Barthélémy (1) , Philippe Bidaud (1, 2) , Vincent Padois (1)

1 ISIR - Institut des Systèmes Intelligents et de Robotique
2 SYROCO - Systèmes robotiques Conception et Commande

This paper deals with the dynamic control of humanoid robots interacting with their environment, and more specifically the behavioral synthesis for dynamic tasks. The particular problem that is considered here is the sequencing of elementary activities subjected to physical constraints, both internal as torque limits and external as contacts, within the framework of posture/tasks coordination. For that we propose to convert the set of tasks into weighted quadratic functions and to minimize their cost with a Linear Quadratic Program. The combination of elementary tasks leads to complex actions, and the continuous evolution of the weights ensures smooth transitions over time, as it is shown in the results.

Domaines: Robotique [cs.RO]; Automatique / Robotique

Joseph Salini, Sébastien Barthélémy, Philippe Bidaud, Vincent Padois. Whole-Body Motion Synthesis with LQP-Based Controller - Application to iCub. Katja Mombaur, Karsten Berns. Modeling, Simulation and Optimization of Bipedal Walking, Springer Berlin Heidelberg, pp.199-210, 2013, Cognitive Systems Monographs, 978-3-642-36368-9. ⟨10.1007/978-3-642-36368-9_16⟩. ⟨hal-01030852⟩