Robustness to Inertial Parameter Errors for Legged Robots Balancing on Level Ground

Nirmal Giftsun, Andrea Del Prete, Florent Lamiraux

2017

Abstract

Model-based control has become more and more popular in the legged robots community in the last ten years. The key idea is to exploit a model of the system to compute precise motor commands that result in the desired motion. This allows to improve the quality of the motion tracking, while using lower gains, leading so to higher compliance. However, the main flaw of this approach is typically its lack of robustness to modeling errors. In this paper we focus on the robustness of inverse-dynamics control to errors in the inertial parameters of the robot. We assume these parameters to be known, but only with a certain accuracy. We then propose a computationally-efficient optimization-based controller that ensures the balance of the robot despite these uncertainties. We used the proposed controller in simulation to perform different reaching tasks with the HRP-2 humanoid robot, in the presence of various modeling errors. Comparisons against a standard inverse-dynamics controller through hundreds of simulations show the superiority of the proposed controller in ensuring the robot balance.

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Paper Citation


in Harvard Style

Giftsun N., Del Prete A. and Lamiraux F. (2017). Robustness to Inertial Parameter Errors for Legged Robots Balancing on Level Ground . In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-263-9, pages 37-44. DOI: 10.5220/0006397800370044


in Bibtex Style

@conference{icinco17,
author={Nirmal Giftsun and Andrea Del Prete and Florent Lamiraux},
title={Robustness to Inertial Parameter Errors for Legged Robots Balancing on Level Ground},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2017},
pages={37-44},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006397800370044},
isbn={978-989-758-263-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Robustness to Inertial Parameter Errors for Legged Robots Balancing on Level Ground
SN - 978-989-758-263-9
AU - Giftsun N.
AU - Del Prete A.
AU - Lamiraux F.
PY - 2017
SP - 37
EP - 44
DO - 10.5220/0006397800370044