Inverse kinematics with floating base and constraints for full body humanoid robot control

Michael Mistry, Jun Nakanishi, Gordon Cheng, Stefan Schaal

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

60 Scopus citations

Abstract

This paper explores inverse kinematics for full body, floating base, task space control on a real humanoid robot. We discuss how constraints can be used to address the issue of under-actuation due to floating base, and list the sufficient conditions for maintaining task space control of arbitrary robot tasks. We suggest a controller based on a task priority framework and demonstrate the feasibility of the approach on the SARCOS/ATR CBi humanoid robot. We implement examples of position control via constrained floating base inverse kinematics as first approach to full body modelbased inverse dynamics control. The examples demonstrate center of gravity position tracking as well as hand figure-8 tracking while simultaneously balancing.

Original languageEnglish
Title of host publication2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008
Pages22-27
Number of pages6
DOIs
StatePublished - 2008
Externally publishedYes
Event2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008 - Daejeon, Korea, Republic of
Duration: 1 Dec 20083 Dec 2008

Publication series

Name2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008

Conference

Conference2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008
Country/TerritoryKorea, Republic of
CityDaejeon
Period1/12/083/12/08

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