UT Austin Villa Publications

Sorted by DateClassified by Publication TypeClassified by TopicSorted by First Author Last Name

Dynamic Behaviors on the NAO Robot With Closed-Loop Whole Body Operational Space Control

Donghyun Kim, Steven Jens Jorgensen, Peter Stone, and Luis Sentis. Dynamic Behaviors on the NAO Robot With Closed-Loop Whole Body Operational Space Control. In IEEE-RAS International Conference on Humanoid Robots, 2016.

Download

[PDF]4.0MB  

Abstract

Exploiting full-body dynamics in feedback control can enhance the balancing capability of a legged system using various techniques such as Whole-Body Control (WBC) or Centroidal Momentum control. However, motion control of the NAO robot based on full-body dynamics has not been extensively studied due to its limited computation power, limited sensors, and restricted access to its low-level controllers. Whole-Body Operational Space Control (WBOSC) is a promising WBC approach for NAO, since its closed form solution provides computational efficiency. But, users need to provide the velocity map (Jacobian) between operational space and configuration space to add the balancing control task. Thus, in this paper, we formulate the Jacobians incorporating the Capture Point (CP) technique [1] and the Centroidal Angular Momentum (CAM) [2], [3], and demonstrate the enhancement of balancing capability in a physics-based simulation. While WBOSC reduces the computational load, implement- ing WBC in the real system with limited sensing capability and built-in joint position control is challenging. We show that the combination of a virtual model as an interface to the real robot and an Extended Kalman-filter based orientation estimator results in a stable implementation of a closed-loop WBOSC. We demonstrate the validity of our approach by performing a dynamic kicking motion on the physical NAO robot. Overall, the contributions of this paper are: (1) to extend WBOSC by adding CAM and CP control tasks, and (2) to implement WBOSC in a restricted physical system by utilizing a virtual model and an orientation estimator.

BibTeX

@inproceedings(Humanoids-16,
   author="Donghyun Kim and Steven Jens Jorgensen and Peter Stone and Luis Sentis",
   title="Dynamic Behaviors on the {NAO} Robot With Closed-Loop Whole Body Operational Space Control",
   BookTitle="{IEEE-RAS} International Conference on Humanoid Robots",
   year="2016",
   location={Cancun, Mexico},
   abstract={
             Exploiting full-body dynamics in feedback control can
             enhance the balancing capability of a legged system using
             various techniques such as Whole-Body Control (WBC) or
             Centroidal Momentum control. However, motion control of
             the NAO robot based on full-body dynamics has not been
             extensively studied due to its limited computation power,
             limited sensors, and restricted access to its low-level
             controllers.  Whole-Body Operational Space Control
             (WBOSC) is a promising WBC approach for NAO, since its
             closed form solution provides computational
             efficiency. But, users need to provide the velocity map
             (Jacobian) between operational space and configuration
             space to add the balancing control task. Thus, in this
             paper, we formulate the Jacobians incorporating the
             Capture Point (CP) technique [1] and the Centroidal
             Angular Momentum (CAM) [2], [3], and demonstrate the
             enhancement of balancing capability in a physics-based
             simulation.  While WBOSC reduces the computational load,
             implement- ing WBC in the real system with limited
             sensing capability and built-in joint position control is
             challenging. We show that the combination of a virtual
             model as an interface to the real robot and an Extended
             Kalman-filter based orientation estimator results in a
             stable implementation of a closed-loop WBOSC.  We
             demonstrate the validity of our approach by performing a
             dynamic kicking motion on the physical NAO robot.
             Overall, the contributions of this paper are: (1) to
             extend WBOSC by adding CAM and CP control tasks, and (2)
             to implement WBOSC in a restricted physical system by
             utilizing a virtual model and an orientation estimator.},
)

Generated by bib2html.pl (written by Patrick Riley ) on Thu Oct 12, 2017 13:11:26