On Weight-Prioritized Multi-Task Control of Humanoid Robots

Karim Bouyarmane 1, 2 Abderrahmane Kheddar 3, 4
2 LARSEN - Lifelong Autonomy and interaction skills for Robots in a Sensing ENvironment
Inria Nancy - Grand Est, LORIA - AIS - Department of Complex Systems, Artificial Intelligence & Robotics
4 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : We propose a formal analysis with some theoretical properties of weight-prioritized multi-task inverse-dynamics-like control of humanoid robots, being a case of redundant " ma-nipulators " with a non-actuated free-floating base and multiple unilateral frictional contacts with the environment. The controller builds on a weighted sum scalarization of a multiobjective optimization problem under equality and inequality constraints, which appears as a straightforward solution to account for state and control input viability constraints characteristic of humanoid robots that were usually absent from early existing pseudo-inverse and null-space projection-based prioritized multi-task approaches. We argue that our formulation is indeed well founded and justified from a theoretical standpoint, and we propose an analysis of some stability properties of the approach: Lyapunov stability is demonstrated for the closed-loop dynamical system that we analytically derive in the unconstrained multiob-jective optimization case. Stability in terms of solution existence, uniqueness, continuity, and robustness to perturbations, is then formally demonstrated for the constrained quadratic program.
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Submitted on : Tuesday, December 5, 2017 - 5:34:43 PM
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Karim Bouyarmane, Abderrahmane Kheddar. On Weight-Prioritized Multi-Task Control of Humanoid Robots. IEEE Transactions on Automatic Control, Institute of Electrical and Electronics Engineers, 2018, 63 (6), pp.1632-1647. ⟨10.1109/TAC.2017.2752085⟩. ⟨hal-01247118v3⟩

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