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  Towards compliant humanoids: an experimental assessment of suitable task space position/orientation controllers

Nakanishi, J., Mistry, M., Peters, J., & Schaal, S. (2007). Towards compliant humanoids: an experimental assessment of suitable task space position/orientation controllers. In 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 2520-2527). Piscataway, NJ, USA: IEEE Service Center.

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Nakanishi, J, Author
Mistry, M, Author
Peters, J1, Author              
Schaal, S, Author              
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1External Organizations, ou_persistent22              

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 Abstract: Compliant control will be a prerequisite for humanoid robotics if these robots are supposed to work safely and robustly in human and/or dynamic environments. One view of compliant control is that a robot should control a minimal number of degrees-of-freedom (DOFs) directly, i.e., those relevant DOFs for the task, and keep the remaining DOFs maximally compliant, usually in the null space of the task. This view naturally leads to task space control. However, surprisingly few implementations of task space control can be found in actual humanoid robots. This paper makes a first step towards assessing the usefulness of task space controllers for humanoids by investigating which choices of controllers are available and what inherent control characteristics they have—this treatment will concern position and orientation control, where the latter is based on a quaternion formulation. Empirical evaluations on an anthropomorphic Sarcos master arm illustrate the robustness of the different controllers as well as the eas e of implementing and tuning them. Our extensive empirical results demonstrate that simpler task space controllers, e.g., classical resolved motion rate control or resolved acceleration control can be quite advantageous in face of inevitable modeling errors in model-based control, and that well chosen formulations are easy to implement and quite robust, such that they are useful for humanoids.

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 Dates: 2007-11
 Publication Status: Published in print
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 Identifiers: DOI: 10.1109/IROS.2007.4399562
BibTex Citekey: 4722
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Title: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2007)
Place of Event: San Diego, CA, USA
Start-/End Date: 2007-10-29 - 2007-11-02

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Title: 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems
Source Genre: Proceedings
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Publ. Info: Piscataway, NJ, USA : IEEE Service Center
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 2520 - 2527 Identifier: ISBN: 1-4244-0912-8