Title:
Optimized Control Strategies for Wheeled Humanoids and Mobile Manipulators
Optimized Control Strategies for Wheeled Humanoids and Mobile Manipulators
Author(s)
Stilman, Mike
Wang, Jiuguang
Teeyapan, Kasemsit
Marceau, Ray
Wang, Jiuguang
Teeyapan, Kasemsit
Marceau, Ray
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Abstract
Optimizing the control of articulated mobile
robots leads to emergent behaviors that improve the effectiveness,
efficiency and stability of wheeled humanoids and
dynamically stable mobile manipulators. Our simulated results
show that optimization over the target pose, height and
control parameters results in effective strategies for standing,
acceleration and deceleration. These strategies improve system
performance by orders of magnitude over existing controllers.
This paper presents a simple controller for robot motion and
an optimization method for choosing its parameters. By using
whole-body articulation, we achieve new skills such as standing
and unprecedented levels of performance for acceleration and
deceleration of the robot base. We describe a new control
architecture, present a method for optimization, and illustrate
its functionality through two distinct methods of simulation.
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Date Issued
2009-12
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Text
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Proceedings