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Empirical Inference Article 2007

A unifying framework for robot control with redundant DOFs

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Empirical Inference
Jan Peters
Research Group Leader
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Autonomous Motion
Stefan Schaal
  • Director

Recently, Udwadia (Proc. R. Soc. Lond. A 2003:1783–1800, 2003) suggested to derive tracking controllers for mechanical systems with redundant degrees-of-freedom (DOFs) using a generalization of Gauss’ principle of least constraint. This method allows reformulating control problems as a special class of optimal controllers. In this paper, we take this line of reasoning one step further and demonstrate that several well-known and also novel nonlinear robot control laws can be derived from this generic methodology. We show experimental verifications on a Sarcos Master Arm robot for some of the derived controllers. The suggested approach offers a promising unification and simplification of nonlinear control law design for robots obeying rigid body dynamics equations, both with or without external constraints, with over-actuation or underactuation, as well as open-chain and closed-chain kinematics.

Author(s): Peters, J. and Mistry, M. and Udwadia, F. and Nakanishi, J. and Schaal, S.
Journal: Autonomous Robots
Volume: 24
Number (issue): 1
Pages: 1-12
Year: 2007
Month: October
Day: 0
Bibtex Type: Article (article)
DOI: 10.1007/s10514-007-9051-x
Digital: 0
Electronic Archiving: grant_archive
Language: en
Organization: Max-Planck-Gesellschaft
School: Biologische Kybernetik
Links:

BibTex 

@article{4862,
  title = {A unifying framework for robot control with redundant DOFs},
  journal = {Autonomous Robots},
  abstract = {Recently, Udwadia (Proc. R. Soc. Lond. A 2003:1783–1800, 2003) suggested to derive tracking controllers for mechanical systems with redundant degrees-of-freedom (DOFs) using a generalization of Gauss’ principle of least constraint. This method allows reformulating control problems as a special class of optimal controllers. In this paper, we take this line of reasoning one step further and demonstrate that several well-known and also novel nonlinear robot control laws can be derived from this generic methodology. We show experimental verifications on a Sarcos Master Arm robot for some of the derived controllers. The suggested approach offers a promising unification and simplification of nonlinear control law design for robots obeying rigid body dynamics equations, both with or without external constraints, with over-actuation or underactuation, as well as open-chain and closed-chain kinematics.},
  volume = {24},
  number = {1},
  pages = {1-12},
  organization = {Max-Planck-Gesellschaft},
  school = {Biologische Kybernetik},
  month = oct,
  year = {2007},
  slug = {4862},
  author = {Peters, J. and Mistry, M. and Udwadia, F. and Nakanishi, J. and Schaal, S.},
  month_numeric = {10}
}