Inverse Dynamics Control with Floating Base and Constraints

— In this paper, we address the issues of compliant control of a robot under contact constraints with a goal of using joint space based pattern generators as movement primitives, as often considered in the studies of legged locomotion and biological motor control. For this purpose, we explore inverse dynamics control of constrained dynamical systems. When the system is overconstrained, it is not straightforward to formulate an inverse dynamics control law since the problem becomes an ill-posed one, where infinitely many combinations of joint torques are possible to achieve the desired joint accelerations. The goal of this paper is to develop a general and computationally efficient inverse dynamics algorithm for a robot with a free floating base and constraints. We suggest an approximate way of computing inverse dynamics algorithm by treating constraint forces computed with a Lagrange multiplier method as simply external forces based on Featherstone’s floating base formulation o...

• Type: Conference
• Year: 2007
• Where: ICRA
• Authors: Jun Nakanishi, Michael Mistry, Stefan Schaal
• Keywords: Efficient Inverse Dynamics, ICRA 2007, Inverse Dynamics, Inverse Dynamics Control, Robotics