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A unifying framework for the control of robotics systems

2005

Conference Paper

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Recently, [1] suggested to derive tracking controllers for mechanical systems using a generalization of GaussÕ principle of least constraint. This method al-lows us to reformulate control problems as a special class of optimal control. We take this line of reasoning one step further and demonstrate that well-known and also several novel nonlinear robot control laws can be derived from this generic methodology. We show experimental verifications on a Sar-cos Master Arm robot for some of the the derived controllers.We believe that the suggested approach offers a promising unification and simplification of nonlinear control law design for robots obeying rigid body dynamics equa-tions, both with or without external constraints, with over-actuation or under-actuation, as well as open-chain and closed-chain kinematics.

Author(s): Peters, J. and Mistry, M. and Udwadia, F. E. and Cory, R. and Nakanishi, J. and Schaal, S.
Book Title: IEEE International Conference on Intelligent Robots and Systems (IROS 2005)
Pages: 1824-1831
Year: 2005

Department(s): Autonomous Motion
Bibtex Type: Conference Paper (inproceedings)

Address: Edmonton, Alberta, Canada, Aug. 2-6
Cross Ref: p2576
Note: clmc
URL: http://www-clmc.usc.edu/publications/P/peters-IROS2005.pdf

BibTex

@inproceedings{Peters_IICIRS_2005,
  title = {A unifying framework for the control of robotics systems},
  author = {Peters, J. and Mistry, M. and Udwadia, F. E. and Cory, R. and Nakanishi, J. and Schaal, S.},
  booktitle = {IEEE International Conference on Intelligent Robots and Systems (IROS 2005)},
  pages = {1824-1831},
  address = {Edmonton, Alberta, Canada, Aug. 2-6},
  year = {2005},
  note = {clmc},
  crossref = {p2576},
  url = {http://www-clmc.usc.edu/publications/P/peters-IROS2005.pdf}
}