Model-Based Control and Estimation of Humanoid Robots via Orthogonal Decomposition

  • Michael Mistry
  • Akihiko Murai
  • Katsu Yamane
  • Jessica Hodgins
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 79)


Model-based control techniques, which use a model of robot dynamics to compute force/torque control commands, have a proven record for achieving accuracy and compliance in force-controllable robot manipulators. However, applying such methods to humanoid and legged systems has yet to happen due to challenges such as: 1) under-actuation inherent in these floating base systems, 2) dynamically changing contact states with potentially unknown contact forces, 3) and the difficulty of accurately modeling these high degree of freedom systems, especially with inadequate sensing. In this work, we present a relatively simple technique for fullbody model-based control and estimation of humanoid robot, using an orthogonal decomposition of rigid-body dynamics. Doing so simplifies the problem by reducing control and estimation to only those variables critical for the task. We present some of our recent evaluations of our approaches on the CarnegieMellon/Sarcos hydraulic force-controllable humanoid robot, engaging in dynamic tasks with contact state changes, such as standing up from a chair.


Contact Force Humanoid Robot Inertial Parameter Base Link Optical Motion Capture System 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag GmbH Berlin Heidelberg 2014

Authors and Affiliations

  • Michael Mistry
    • 1
  • Akihiko Murai
    • 1
  • Katsu Yamane
    • 1
  • Jessica Hodgins
    • 1
  1. 1.Disney Research PittsburghPittsburghUSA

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