Abstract
Inverse Kinematics is a fundamental tool in Cartesian/Operational Space control. Recent approaches make use of Quadratic Programming Optimization to obtain desired joint velocities or accelerations from Cartesian references. QP based IK also permits to specify constraints to affect the solution. Constraints are fundamental and necessary when working with real robotic hardware since they prevent possible damages: joint limits, self collision avoidance and joint velocity limits are examples of such constraints. In this work we present a constraint to take into account joint torque limits based on the robot dynamics and force/torque sensor measurements. Despite the robot dynamics can be naturally expressed at acceleration level, our main goal is to specify this constraint in a resolved motion rate control IK. For this reason we formulate it also at the velocity level to be used in any IK QP based scheme. Hence, this formulation allows to generate dynamically feasible motions of the robot even in simple IK velocity based schemes. We apply this constraint to our humanoid robot COMAN while performing a Cartesian task which requires high torques in some joints. The constraint is developed inside the OpenSoT library.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsNotes
- 1.
The OpenSoT library is open-source and downloadable at https://github.com/robotology-playground/OpenSoT.
References
Ferreau, H.J., Kirches, C., Potschka, A., Bock, H.G., Diehl, M.: qpoases: A parametric active-set algorithm for quadratic programming. Math. Program. Comput. 1–37 (2013)
Flacco, F., De Luca, A.: Discrete-time redundancy resolution at the velocity level with acceleration/torque optimization properties. Robot. Auton. Syst. 70, 191–201 (2015)
Herzog, A., Righetti, L., Grimminger, F., Pastor, P., Schaal, S.: Momentum-based balance control for torque-controlled humanoids. Comput. Res. Repos. 1, 1–7 (2013)
Kanehiro, F., Lamiraux, F., Kanoun, O., Yoshida, E., Laumond, J.P.: A local collision avoidance method for non-strictly convex polyhedra. In: Proceedings of Robotics: Science and Systems IV (2008)
Mansard, N., Stasse, O., Evrard, P., Kheddar, A.: A versatile generalized inverted kinematics implementation for collaborative working humanoid robots: The stack of tasks. In: International Conference on Advanced Robotics, 2009, ICAR 2009, pp. 1–6. IEEE (2009)
Nakamura, Y.: Advanced Robotics: Redundancy and Optimization, 1st edn. Addison-Wesley Longman Publishing Co., Inc., Boston (1990)
Park, K.C., Chang, P.H., Kim, S.H.: The enhanced compact qp method for redundant manipulators using practical inequality constraints. In: Proceedings of the 1998 IEEE International Conference on Robotics and Automation, 1998, vol. 1, pp. 107–114. IEEE (1998)
Ramos, O., Mansard, N., Souères, P.: Whole-body motion integrating the capture point in the operational space inverse dynamics control. In: IEEE-RAS International Conference on Humanoid Robots (Humanoid 2014), Madrid, Spain (2014)
Ramos, O.E., Mansard, N., Stasse, O., Benazeth, C., Hak, S., Saab, L.: Dancing humanoid robots: Systematic use of OSID to compute dynamically consistent movements following a motion capture pattern. IEEE Robot. Autom. Mag. 22(4), 16–26 (2015)
Rocchi, A., Hoffman, E.M., Caldwell, D.G., Tsagarakis, N.G.: Opensot: A whole-body control library for the compliant humanoid robot coman. In: 2015 IEEE International Conference on Robotics and Automation (ICRA), pp. 1093–1099. IEEE (2015)
Saab, L., Ramos, O.E., Keith, F., Mansard, N., Souères, P., Fourquet, J.Y.: Dynamic Whole-Body motion generation under rigid contacts and other unilateral constraints. IEEE Trans. Robot. 29(2), 346–362 (2013)
Yamane, K.: Simulating and generating motions of human figures. STAR/Springer tracts in advanced robotics. Springer, Berlin (2004). http://opac.inria.fr/record=b1119062. Evolution of the author’s PhD
Acknowledgements
The research leading to these results has received funding from the European Union Seventh Framework Programme [FP7-ICT-2013-10] under grant agreements n.611832 WALKMAN.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2018 Springer International Publishing AG
About this chapter
Cite this chapter
Mingo Hoffman, E., Rocchi, A., Tsagarakis, N.G., Caldwell, D.G. (2018). Robot Dynamics Constraint for Inverse Kinematics. In: Lenarčič, J., Merlet, JP. (eds) Advances in Robot Kinematics 2016. Springer Proceedings in Advanced Robotics, vol 4. Springer, Cham. https://doi.org/10.1007/978-3-319-56802-7_29
Download citation
DOI: https://doi.org/10.1007/978-3-319-56802-7_29
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-56801-0
Online ISBN: 978-3-319-56802-7
eBook Packages: EngineeringEngineering (R0)