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

Michael Mistry; Jun Nakanishi; Gordon Cheng; Stefan Schaal

doi:10.1109/ICHR.2008.4755926

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

Michael Mistry
, Jun Nakanishi
, Gordon Cheng
, Stefan Schaal

ATR Computational Neuroscience Laboratory
University of Southern California
JST-ICORP Computational Brain Project
University of Southern California

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

61 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 language	English
Title of host publication	2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008
Publisher	IEEE Computer Society
Pages	22-27
Number of pages	6
ISBN (Print)	9781424428229
DOIs	https://doi.org/10.1109/ICHR.2008.4755926
State	Published - 2008
Externally published	Yes
Event	8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008 - Daejeon, Korea, Republic of Duration: 1 Dec 2008 → 3 Dec 2008

Publication series

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

Conference

Conference	8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008
Country/Territory	Korea, Republic of
City	Daejeon
Period	1/12/08 → 3/12/08

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10.1109/ICHR.2008.4755926

Cite this

Mistry, M., Nakanishi, J., Cheng, G., & Schaal, S. (2008). Inverse kinematics with floating base and constraints for full body humanoid robot control. In 2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008 (pp. 22-27). Article 4755926 (2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008). IEEE Computer Society. https://doi.org/10.1109/ICHR.2008.4755926

@inproceedings{d599405a990747cfa13ed536ae5a3ab7,

title = "Inverse kinematics with floating base and constraints for full body humanoid robot control",

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.",

author = "Michael Mistry and Jun Nakanishi and Gordon Cheng and Stefan Schaal",

year = "2008",

doi = "10.1109/ICHR.2008.4755926",

language = "English",

isbn = "9781424428229",

series = "2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008",

publisher = "IEEE Computer Society",

pages = "22--27",

booktitle = "2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008",

note = "8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008 ; Conference date: 01-12-2008 Through 03-12-2008",

}

Mistry, M, Nakanishi, J, Cheng, G & Schaal, S 2008, Inverse kinematics with floating base and constraints for full body humanoid robot control. in 2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008., 4755926, 2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008, IEEE Computer Society, pp. 22-27, 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008, Daejeon, Korea, Republic of, 1/12/08. https://doi.org/10.1109/ICHR.2008.4755926

Inverse kinematics with floating base and constraints for full body humanoid robot control. / Mistry, Michael; Nakanishi, Jun; Cheng, Gordon et al.
2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008. IEEE Computer Society, 2008. p. 22-27 4755926 (2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Inverse kinematics with floating base and constraints for full body humanoid robot control

AU - Mistry, Michael

AU - Nakanishi, Jun

AU - Cheng, Gordon

AU - Schaal, Stefan

PY - 2008

Y1 - 2008

N2 - 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.

AB - 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.

UR - https://www.scopus.com/pages/publications/63549123477

U2 - 10.1109/ICHR.2008.4755926

DO - 10.1109/ICHR.2008.4755926

M3 - Conference contribution

AN - SCOPUS:63549123477

SN - 9781424428229

T3 - 2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008

SP - 22

EP - 27

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

PB - IEEE Computer Society

T2 - 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008

Y2 - 1 December 2008 through 3 December 2008

ER -

Mistry M, Nakanishi J, Cheng G, Schaal S. Inverse kinematics with floating base and constraints for full body humanoid robot control. In 2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008. IEEE Computer Society. 2008. p. 22-27. 4755926. (2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008). doi: 10.1109/ICHR.2008.4755926

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

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