Multi-Contact Whole-Body Force Control for Position-Controlled Robots
IEEE Robotics Autom. Lett.(2023)
摘要
Many humanoid and multi-legged robots are controlled in positions rather than
in torques, which prevents direct control of contact forces, and hampers their
ability to create multiple contacts to enhance their balance, such as placing a
hand on a wall or a handrail. This letter introduces the SEIKO (Sequential
Equilibrium Inverse Kinematic Optimization) pipeline, and proposes a unified
formulation that exploits an explicit model of flexibility to indirectly
control contact forces on traditional position-controlled robots. SEIKO
formulates whole-body retargeting from Cartesian commands and admittance
control using two quadratic programs solved in real-time. Our pipeline is
validated with experiments on the real, full-scale humanoid robot Talos in
various multi-contact scenarios, including pushing tasks, far-reaching tasks,
stair climbing, and stepping on sloped surfaces. Code and videos are available
at: https://hucebot.github.io/seiko_controller_website/
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