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Momentum-Centered Control of Contact Interactions

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Geometric and Numerical Foundations of Movements

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 117))

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Abstract

The control and planning of interaction forces is fundamental for locomotion and manipulation tasks since it is through the interaction with the environment that a robot can walk forward or manipulate objects. In this chapter we present a control and planning strategy focused on the control of interaction forces to generate multi-contact whole-body behaviors. Centered around the robot momentum dynamics, our approach consists of a hierarchical inverse dynamics controller that treats the control of the robot’s momentum as a contact force task and a trajectory optimization algorithm that can generate desired whole-body motions, momentum and desired contact forces for multiple contacts. Experimental results demonstrate the capabilities of the approach on a humanoid robot.

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Notes

  1. 1.

    One could argue that it could be seen as an impedance task, which is also valid and does not change the argument.

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Acknowledgements

This work was supported by the Max-Planck Society, the European Research Council under the European Union’s Horizon 2020 research and innovation programme (ERC StG CONT-ACT, grant agreement No 637935) and the Max Planck ETH Center for Learning Systems. We would also like to warmly thank two anonymous reviewers for their constructive comments that helped significantly improve the chapter.

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Authors and Affiliations

  1. Max-Planck Institute for Intelligent Systems, Paul Ehrlich Str. 15, 72076, Tuebingen, Germany

    Ludovic Righetti & Alexander Herzog

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  1. Ludovic Righetti
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  2. Alexander Herzog
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Correspondence to Ludovic Righetti .

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Editors and Affiliations

  1. LAAS-CNRS , Toulouse, France

    Jean-Paul Laumond

  2. LAAS-CNRS , Toulouse, France

    Nicolas Mansard

  3. LAAS-CNRS , Toulouse, France

    Jean-Bernard Lasserre

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Righetti, L., Herzog, A. (2017). Momentum-Centered Control of Contact Interactions. In: Laumond, JP., Mansard, N., Lasserre, JB. (eds) Geometric and Numerical Foundations of Movements . Springer Tracts in Advanced Robotics, vol 117. Springer, Cham. https://doi.org/10.1007/978-3-319-51547-2_14

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  • DOI: https://doi.org/10.1007/978-3-319-51547-2_14

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  • Online ISBN: 978-3-319-51547-2

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