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A practical control method that can perform multiple tasks in operational space is proposed for a fully actuated robot with high kinematic redundancy. Its dynamic control is often realized through force-level operational-space control framework, which computes joint torques for the required forces of prioritized multiple tasks. This approach requires an accurate dynamic model that is a major hurdle to overcome for implementation in real robots. To exempt from complex and demanding inverse dynamics computations, the proposed controller incorporates adaptive sliding-mode and online dynamics estimation schemes. The proposed operational space controller has two merits: it can obtain highly accurate control performance without calculating complex robot dynamics, and it can adapt the control parameters online to effectively compensate the uncertainties when the posture of a humanoid robot is substantially changed during operation; thus, a relatively simple, adaptive and robust control is realized for practical use for a kinematically redundant robots in operational space. The effectiveness of the proposed control method is numerically validated using a dynamic simulator. The simulated scenarios include that a fully-actuated humanoid robot undergoes severe changes in its inertia with respect to changes in posture. Experiments with a 23 degrees-of-freedom torque-controlled humanoid, CoMan, verify that the controller can perform three multiple operational-space tasks under uncertain external disturbances with high accuracy.
Autonomous Robots – Springer Journals
Published: Jul 18, 2018
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