Stable-by-Design Kinematic Control Based on Optimization

Stable-by-Design Kinematic Control Based on Optimization

This paper presents a new kinematic control paradigm for redundant robots based on optimization. The general approach takes into account convex objective functions with inequality constraints and a specific equality constraint resulting from a Lyapunov function, which ensures closed-loop stability by design. Furthermore, we tackle an important particular case by using a convex combination of quadratic and l1-norm objective functions, making possible for the designer to choose different degrees of sparseness and smoothness in the control inputs. We provide a pseudo-analytical solution to this optimization problem and validate the approach by controlling the center of mass of the humanoid robot HOAP3.

• V. M. Gonçalves, B. V. Adorno, A. Crosnier, and P. Fraisse. Stable-by-Design Kinematic Control Based on Optimization. IEEE Transactions on Robotics, pages 1-13, January 2020.
  [Bibtex]

  @article{2020-tro-vg,
  author={Gonçalves,V. M. and Adorno, B. V. and Crosnier, A. and Fraisse, P.},
  journal= {IEEE Transactions on Robotics},
  title={Stable-by-Design Kinematic Control Based on Optimization},
  year={2020},
  month={January},
  volume={},
  number={},
  pages={1-13},
  note={},
  abstract={},
  keywords={kinematic control},
  doi={10.1109/TRO.2019.2963665},
  ISSN={1941-0468}
  }