TY - GEN
T1 - Task-space Kinematic Control of a Quadruped Robot with a Floating Base
AU - Garcia-Cardenas, Facundo
AU - Ramos, Oscar E.
AU - Canahuire, Ruth
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/12/24
Y1 - 2018/12/24
N2 - As a direct consequence of the use of more actuators than those needed to perform a specific task, a robot becomes a highly redundant system which complicates the solution of the inverse kinematics. This work considers a task-space kinematic control using a weighted quadratic optimization solver, which allows for whole-body motion control fully exploiting all the movements that a highly redundant robot can achieve. This represents a useful tool for legged robots in order to display more natural and stable movements. At the cost of higher computational power requirements, the proposed optimization problem is a fast, precise and stable solution to the robot's kinematic redundancy. Compared to other methods such as the pseudo-inverse solution, the weighted inverse kinematics solver is capable of imposing hard constraints, guarantees the avoidance of kinematic singularities in most cases, and allows to solve multiple tasks at the same time. This work presents the simulation and implementation of the proposed model.
AB - As a direct consequence of the use of more actuators than those needed to perform a specific task, a robot becomes a highly redundant system which complicates the solution of the inverse kinematics. This work considers a task-space kinematic control using a weighted quadratic optimization solver, which allows for whole-body motion control fully exploiting all the movements that a highly redundant robot can achieve. This represents a useful tool for legged robots in order to display more natural and stable movements. At the cost of higher computational power requirements, the proposed optimization problem is a fast, precise and stable solution to the robot's kinematic redundancy. Compared to other methods such as the pseudo-inverse solution, the weighted inverse kinematics solver is capable of imposing hard constraints, guarantees the avoidance of kinematic singularities in most cases, and allows to solve multiple tasks at the same time. This work presents the simulation and implementation of the proposed model.
KW - Floating base
KW - kinematics
KW - optimization
KW - redundancy
KW - task-space
UR - http://www.scopus.com/inward/record.url?scp=85060991243&partnerID=8YFLogxK
U2 - 10.1109/CCRA.2018.8588122
DO - 10.1109/CCRA.2018.8588122
M3 - Conference contribution
AN - SCOPUS:85060991243
T3 - 2018 IEEE 2nd Colombian Conference on Robotics and Automation, CCRA 2018
BT - 2018 IEEE 2nd Colombian Conference on Robotics and Automation, CCRA 2018
A2 - Garcia, Lorena
A2 - Wightman, Pedro
A2 - Percybrooks, Winston
A2 - Carrillo, Henry
A2 - Quintero, Carlos
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2nd IEEE Colombian Conference on Robotics and Automation, CCRA 2018
Y2 - 1 November 2018 through 3 November 2018
ER -