What question did this study set out to answer?

This research aims to develop an inverse-dynamics controller for legged robots that optimizes contact interactions with their environment.

January 28, 2013The International Journal of Robotics Research

Optimal distribution of contact forces with inverse-dynamics control

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Authors

LRLudovic RighettiBrooklyn Technical High School JBJonas BuchliDeepMind (United Kingdom)MMMichael MistryUniversity of Edinburgh

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Implication

Randomized trial demonstrates improved locomotion robustness in quadruped robots using inverse-dynamics control, indicating effective environmental interaction.

Key Points

This research aims to develop an inverse-dynamics controller for legged robots that optimizes contact interactions with their environment.
Developed a controller for floating-base robots that minimizes linear and quadratic costs under contact constraints.
Conducted experiments on both simulated humanoid and quadruped robots as well as a real quadruped robot.
Demonstrated the analytical derivation of the controller for optimizing contact forces.
The controller significantly improved the robustness of locomotion in both simulated and real quadruped robots.
Under test conditions, slipping on difficult terrains was minimized while maintaining high tracking performance.
The controller showcased computational efficiency and robustness against model inaccuracies.

Cite This Study

Righetti et al. (2013) studied this question.

synapsesocial.com/papers/6a0f895fb6f5ee04015fc942 https://doi.org/10.1177/0278364912469821

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Implication

Randomized trial demonstrates improved locomotion robustness in quadruped robots using inverse-dynamics control, indicating effective environmental interaction.

Optimal distribution of contact forces with inverse-dynamics control

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Member takes

Implication

Key Points

Cite This Study

Optimal distribution of contact forces with inverse-dynamics control

Discussion

Member takes

Implication

Key Points

Cite This Study

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