A Whole-body Control Framework for Humanoids Operating in Human Environments

Abstract— Tomorrow’s humanoids will operate in human environments, where efficient manipulation and locomotion skills, and safe contact interactions will be critical design factors. We report here our recent efforts into these issues, materialized into a whole-body control framework. This framework integrates task-oriented dynamic control and control prioritization [14] allowing to control multiple task primitives while complying with physical and movement-related constraints. Prioritization establishes a hierarchy between control spaces, assigning top priority to constraint-handling tasks, while projecting operational tasks in the null space of the constraints, and controlling the posture within the residual redundancy. This hierarchy is directly integrated at the kinematic level, allowing the program to monitor behavior feasibility at runtime. In addition, prioritization allows us to characterize the dynamic behavior of the individual control primitives subject to the constraint...

• Type: Conference
• Year: 2006
• Where: ICRA
• Authors: Luis Sentis, Oussama Khatib
• Keywords: Control Prioritization, ICRA 2006, Robotics, Task-oriented Dynamic Control, Whole-body Control Framework