Dynamics Compensation for the Control of Articulated Multi-Limb Robots

We describe a general approach for using linearizing feedforward control terms for large degree of freedom (dof) multi-limb robots operating in scenarios involving motion and force constraints and under-actuated dofs arising from the task and the environment. Our solution is general and has low computational cost needed for real-time control loops. It supports the tuning of the feedforward term to meet multiple task objectives. Being structure-based, it is able to easily accommodate changes in motion and force constraints that often occur in robotics scenarios.