INTEGRATION OF WHOLE BODY CONTROLLERS WITH ROBOTS

摘要

A method, system and computer program product for controlling a humanoid robot. A compound task that defines operational space objectives and lower priority goal postures that a whole body controller should achieve is defined. Furthermore, a constraint set that specifies natural physical constraints of a robot is defined. Additionally, a robot model that computes kinematic and dynamic properties of the robot is defined. Furthermore, controller parameters to be utilized by the whole body controller are bound to a set of transport layers which enables the controller parameters to be accessed by external processes. The whole body controller is instantiated utilizing the compound task, constraint set, robot model and parameter bindings. In this manner, whole body controllers are effectively integrated with robots and their applications.