Title :
Control of Free-Floating Humanoid Robots Through Task Prioritization
Author :
Sentis, Luis ; Khatib, Oussama
Author_Institution :
Artificial Intelligence Laboratory Stanford University Stanford, CA 94305, USA lsentis@robotics.stanford.edu
Abstract :
The possibility of controlling humanoid robots in free-space opens new fields of application involving free-floating behaviors. Recently, we presented a prioritized task-oriented control framework for the control of multiple motion primitives while complying with physical constraints imposed by the robot’s body and environment. We adapt here this framework to the control of free-floating robots.
Keywords :
Free-floating dynamics; prioritized control; Acceleration; Aerodynamics; Artificial intelligence; Gravity; Humanoid robots; Jacobian matrices; Motion control; Orbital robotics; Robot control; Robotics and automation; Free-floating dynamics; prioritized control;
Conference_Titel :
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN :
0-7803-8914-X
DOI :
10.1109/ROBOT.2005.1570361
