2000 character limit reached
Compliant Hierarchical Control for Arbitrary Equality and Inequality Tasks with Strict and Soft Priorities (2403.08491v1)
Published 13 Mar 2024 in cs.RO
Abstract: When a robotic system is redundant with respect to a given task, the remaining degrees of freedom can be used to satisfy additional objectives. With current robotic systems having more and more degrees of freedom, this can lead to an entire hierarchy of tasks that need to be solved according to given priorities. In this paper, the first compliant control strategy is presented that allows to consider an arbitrary number of equality and inequality tasks, while still preserving the natural inertia of the robot. The approach is therefore a generalization of a passivity-based controller to the case of an arbitrary number of equality and inequality tasks. The key idea of the method is to use a Weighted Hierarchical Quadratic Problem to extract the set of active tasks and use the latter to perform a coordinate transformation that inertially decouples the tasks. Thereby unifying the line of research focusing on optimization-based and passivity-based multi-task controllers. The method is validated in simulation.
- J. Salini, V. Padois, and P. Bidaud, “Synthesis of complex humanoid whole-body behavior: A focus on sequencing and tasks transitions,” in IEEE Int. Conf. on Robotics and Automation (ICRA), Shanghai, China, May 2011, pp. 1283–1290.
- F. L. Moro, M. Gienger, A. Goswami, N. G. Tsagarakis, and D. G. Caldwell, “An attractor-based whole-body motion control (wbmc) system for humanoid robots,” in 2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Atlanta, USA, Oct. 2013, pp. 42–49.
- N. Dehio, R. F. Reinhart, and J. J. Steil, “Multiple task optimization with a mixture of controllers for motion generation,” in IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Hamburg, Germany, Sept. 2015, pp. 6416–6421.
- K. Bouyarmane and A. Kheddar, “On weight-prioritized multitask control of humanoid robots,” IEEE Trans. on Automatic Control, vol. 63, no. 6, pp. 1632–1647, 2018.
- J. Englsberger, A. Dietrich, G. Mesesan, G. Garofalo, C. Ott, and A. Albu-Schäffer, “MPTC – Modular Passive Tracking Controller for stack of tasks based control frameworks,” in Proceedings of Robotics: Science and Systems, Corvalis, USA, July 2020.
- B. Siciliano and J.-J. E. Slotine, “A general framework for managing multiple tasks in highly redundant robotic systems,” in Fifth International Conference on Advanced Robotics (ICAR), Pisa, Italy, June 1991, pp. 1211–1216.
- A. Escande, N. Mansard, and P.-B. Wieber, “Hierarchical quadratic programming: Fast online humanoid-robot motion generation,” Int. Journal of Robotics Research, vol. 33, no. 7, pp. 1006–1028, 2014.
- C. Ott, A. Dietrich, and A. Albu-Schäffer, “Prioritized multi-task compliance control of redundant manipulators,” Automatica, vol. 53, pp. 416–423, 2015.
- G. Garofalo and C. Ott, “Hierarchical tracking control with arbitrary task dimensions: Application to trajectory tracking on submanifolds,” IEEE Robotics and Automation Letters (RA-L), vol. 5, no. 4, pp. 6153–6160, 2020.
- O. Kanoun, F. Lamiraux, and P.-B. Wieber, “Kinematic control of redundant manipulators: Generalizing the task-priority framework to inequality task,” vol. 27, no. 4, pp. 785–792, 2011.
- A. Herzog, N. Rotella, S. Mason, F. Grimminger, S. Schaal, and L. Righetti, “Momentum control with hierarchical inverse dynamics on a torque-controlled humanoid,” Autonomous Robots, vol. 40, no. 3, pp. 473–491, 2016.
- D. J. Agravante, G. Claudio, F. Spindler, and F. Chaumette, “Visual servoing in an optimization framework for the whole-body control of humanoid robots,” IEEE Robotics and Automation Letters (RA-L), vol. 2, no. 2, pp. 608–615, 2017.
- S. Fahmi, C. Mastalli, M. Focchi, and C. Semini, “Passive whole-body control for quadruped robots: Experimental validation over challenging terrain,” IEEE Robotics and Automation Letters (RA-L), vol. 4, no. 3, pp. 2553–2560, 2019.
- X. Wu, C. Ott, A. Albu-Schäffer, and A. Dietrich, “Passive decoupled multitask controller for redundant robots,” IEEE Transactions on Control Systems Technology, vol. 31, no. 1, pp. 1–16, 2023.
- O. Khatib, “A unified approach for motion and force control of robot manipulators: The operational space formulation,” IEEE Journal on Robotics and Automation, vol. 3, no. 1, pp. 43–53, 1987.
- C. Ott, A. Kugi, and Y. Nakamura, “Resolving the problem of non-integrability of nullspace velocities for compliance control of redundant manipulators by using semi-definite Lyapunov functions,” in IEEE Int. Conf. on Robotics and Automation (ICRA), Pasadena, USA, May 2008, pp. 1456–1463.
- L. Sentis and O. Khatib, “Synthesis of whole-body behaviors through hierarchical control of behavioral primitives,” International Journal of Humanoid Robotics, vol. 2, no. 4, pp. 505–518, 2005.
- L. Righetti, J. Buchli, M. Mistry, and S. Schaal, “Inverse dynamics control of floating-base robots with external constraints: A unified view,” in IEEE Int. Conf. on Robotics and Automation (ICRA), Shanghai, China, May 2011, pp. 1085–1090.
- A. Del Prete, F. Nori, G. Metta, and L. Natale, “Prioritized motion–force control of constrained fully-actuated robots: “task space inverse dynamics”,” Robotics and Autonomous Systems, vol. 63, pp. 150–157, 2015.
- N. Dehio and J. J. Steil, “Dynamically-consistent generalized hierarchical control,” in IEEE Int. Conf. on Robotics and Automation (ICRA), Montreal, Canada, May 2019, pp. 1141–1147.
- K. L. Doty, C. Melchiorri, and C. Bonivento, “A theory of generalized inverses applied to robotics,” Int. Journal of Robotics Research, vol. 12, no. 1, pp. 1–19, 1993.
- A. D. Ames, S. Coogan, M. Egerstedt, G. Notomista, K. Sreenath, and P. Tabuada, “Control barrier functions: Theory and applications,” in 2019 18th European Control Conference (ECC), Naples, Italy, Aug. 2019, pp. 3420–3431.