Rouxel, Q;
Yuan, K;
Wen, R;
Li, Z;
(2022)
Multicontact Motion Retargeting Using Whole-Body Optimization of Full Kinematics and Sequential Force Equilibrium.
IEEE/ASME Transactions on Mechatronics
10.1109/TMECH.2022.3152844.
(In press).
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Abstract
This article presents a multicontact motion adaptation framework that enables teleoperation of high degree-of-freedom robots, such as quadrupeds and humanoids, for loco-manipulation tasks in multicontact settings. Our proposed algorithms optimize whole-body configurations and formulate the retargeting of multicontact motions as sequential quadratic programming, which is robust and stable near the edges of feasibility constraints. Our framework allows real-time operation of the robot and reduces cognitive load for the operator because infeasible commands are automatically adapted into physically stable and viable motions on the robot. The results in simulations with full dynamics demonstrated the effectiveness of teleoperating different legged robots interactively and generating rich multicontact movements. We evaluated the computational efficiency of the proposed algorithms, and further validated and analyzed multicontact loco-manipulation tasks on humanoid and quadruped robots by reaching, active pushing, and various traversal on uneven terrains.
| Type: | Article |
|---|---|
| Title: | Multicontact Motion Retargeting Using Whole-Body Optimization of Full Kinematics and Sequential Force Equilibrium |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/TMECH.2022.3152844 |
| Publisher version: | https://doi.org/10.1109/TMECH.2022.3152844 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher's terms and conditions. |
| UCL classification: | UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science UCL > Provost and Vice Provost Offices > UCL BEAMS UCL |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10148414 |
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