A method for real-time Kineto-Dynamic trajectory generation

We propose a method for resolving a hybrid task description consisting of generalized forces and task-space trajectories into joint accelerations. The method is motivated by the problem of biped walking control for which a natural task description consists of contact forces and task-space trajectories. We present both a general method based on the full equations of motion of the multibody system and a more efficient approach tailored to the problem of biped walking control. We analyze the method and compare it to the previously proposed dynamics error compensation method, which can reduce the planning error resulting from simplified robot models. The controller is evaluated in walking experiments and compared to a different walking controller using an inverse kinematics algorithm. The method introduced in this paper allows us to exactly track the desired contact forces in real-time.