Hierarchical Inverse Dynamics for Control of Lower body of Sarcos Robot
نویسنده
چکیده
Controlling complex humanoid robots can involve a lot of competing paradigms that can be simplified by breaking down the control process into a hierarchy of tasks. For this project, we implemented one such controller, as introduced in [1], that uses a user-defined hierarchy of tasks to perform a required task. We tested this on tasks such as squatting and balancing on flat ground under disturbances. The controller was seen to follow the desired trajectories well. However, when testing on stepping tasks, we found the simulator incapable of handling model inconsistencies. We show that hierarchical approaches such as these are capable of handling conflicting tasks in a hierarchy by maintaining a strict ranking between constraints.
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