Efficient recursive dynamics algorithms for operational-space control with application to legged locomotion
This paper presents new recursive dynamics algorithms that enable operational-space control of floating-base systems to be performed at faster rates. This type of control approach requires the computation of operational-space quantities and suffers from high computational order when these quantities...
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| Format: | Article |
| Language: | English |
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Springer Science+Business Media
2016
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| Online Access: | http://hdl.handle.net/1721.1/103142 https://orcid.org/0000-0002-9041-5175 |
| _version_ | 1826204292723245056 |
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| author | Wensing, Patrick M. Palmer, Luther R. Orin, David E. |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Wensing, Patrick M. Palmer, Luther R. Orin, David E. |
| author_sort | Wensing, Patrick M. |
| collection | MIT |
| description | This paper presents new recursive dynamics algorithms that enable operational-space control of floating-base systems to be performed at faster rates. This type of control approach requires the computation of operational-space quantities and suffers from high computational order when these quantities are directly computed through the use of the mass matrix and Jacobian from the joint-space formulation. While many efforts have focused on efficient computation of the operational-space inertia matrix Λ, this paper provides a recursive algorithm to compute all quantities required for floating-base control of a tree-structure mechanism. This includes the first recursive algorithm to compute the dynamically consistent pseudoinverse of the Jacobian J¯ for a tree-structure system. This algorithm is extended to handle arbitrary contact constraints with the ground, which are often found in legged systems, and uses effective ground contact dynamics approximations to retain computational efficiency. The usefulness of the algorithm is demonstrated through application to control of a high-speed quadruped trot in simulation. Our contact-consistent algorithm demonstrates pitch and roll stabilization for a large dog-sized quadruped running at 3.6 m/s without any contact force sensing, and is shown to outperform a simpler Raibert-style posture controller. In addition, the operational-space control approach allows the dynamic effects of the swing legs to be effectively accounted for at this high speed.
J
¯
for a tree-structure system. This algorithm is extended to handle arbitrary contact constraints with the ground, which are often found in legged systems, and uses effective ground contact dynamics approximations to retain computational efficiency. The usefulness of the algorithm is demonstrated through application to control of a high-speed quadruped trot in simulation. Our contact-consistent algorithm demonstrates pitch and roll stabilization for a large dog-sized quadruped running at 3.6 m/s without any contact force sensing, and is shown to outperform a simpler Raibert-style posture controller. In addition, the operational-space control approach allows the dynamic effects of the swing legs to be effectively accounted for at this high speed. |
| first_indexed | 2024-09-23T12:51:59Z |
| format | Article |
| id | mit-1721.1/103142 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T12:51:59Z |
| publishDate | 2016 |
| publisher | Springer Science+Business Media |
| record_format | dspace |
| spelling | mit-1721.1/1031422022-09-28T10:36:36Z Efficient recursive dynamics algorithms for operational-space control with application to legged locomotion Wensing, Patrick M. Palmer, Luther R. Orin, David E. Massachusetts Institute of Technology. Department of Mechanical Engineering Wensing, Patrick M. This paper presents new recursive dynamics algorithms that enable operational-space control of floating-base systems to be performed at faster rates. This type of control approach requires the computation of operational-space quantities and suffers from high computational order when these quantities are directly computed through the use of the mass matrix and Jacobian from the joint-space formulation. While many efforts have focused on efficient computation of the operational-space inertia matrix Λ, this paper provides a recursive algorithm to compute all quantities required for floating-base control of a tree-structure mechanism. This includes the first recursive algorithm to compute the dynamically consistent pseudoinverse of the Jacobian J¯ for a tree-structure system. This algorithm is extended to handle arbitrary contact constraints with the ground, which are often found in legged systems, and uses effective ground contact dynamics approximations to retain computational efficiency. The usefulness of the algorithm is demonstrated through application to control of a high-speed quadruped trot in simulation. Our contact-consistent algorithm demonstrates pitch and roll stabilization for a large dog-sized quadruped running at 3.6 m/s without any contact force sensing, and is shown to outperform a simpler Raibert-style posture controller. In addition, the operational-space control approach allows the dynamic effects of the swing legs to be effectively accounted for at this high speed. J ¯ for a tree-structure system. This algorithm is extended to handle arbitrary contact constraints with the ground, which are often found in legged systems, and uses effective ground contact dynamics approximations to retain computational efficiency. The usefulness of the algorithm is demonstrated through application to control of a high-speed quadruped trot in simulation. Our contact-consistent algorithm demonstrates pitch and roll stabilization for a large dog-sized quadruped running at 3.6 m/s without any contact force sensing, and is shown to outperform a simpler Raibert-style posture controller. In addition, the operational-space control approach allows the dynamic effects of the swing legs to be effectively accounted for at this high speed. National Science Foundation (U.S.) (Graduate Research Fellowship) National Science Foundation (U.S.) (Grant No. CNS-0960061, with subaward to Ohio State University) 2016-06-17T17:17:20Z 2016-06-17T17:17:20Z 2015-01 2013-12 2016-05-23T12:15:18Z Article http://purl.org/eprint/type/JournalArticle 0929-5593 1573-7527 http://hdl.handle.net/1721.1/103142 Wensing, Patrick M., Luther R. Palmer, and David E. Orin. “Efficient Recursive Dynamics Algorithms for Operational-Space Control with Application to Legged Locomotion.” Auton Robot 38, no. 4 (January 22, 2015): 363–381. https://orcid.org/0000-0002-9041-5175 en http://dx.doi.org/10.1007/s10514-015-9420-9 Autonomous Robots Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use. Springer Science+Business Media New York application/pdf Springer Science+Business Media Springer US |
| spellingShingle | Wensing, Patrick M. Palmer, Luther R. Orin, David E. Efficient recursive dynamics algorithms for operational-space control with application to legged locomotion |
| title | Efficient recursive dynamics algorithms for operational-space control with application to legged locomotion |
| title_full | Efficient recursive dynamics algorithms for operational-space control with application to legged locomotion |
| title_fullStr | Efficient recursive dynamics algorithms for operational-space control with application to legged locomotion |
| title_full_unstemmed | Efficient recursive dynamics algorithms for operational-space control with application to legged locomotion |
| title_short | Efficient recursive dynamics algorithms for operational-space control with application to legged locomotion |
| title_sort | efficient recursive dynamics algorithms for operational space control with application to legged locomotion |
| url | http://hdl.handle.net/1721.1/103142 https://orcid.org/0000-0002-9041-5175 |
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