Work

The ARC-OPT Library for Whole-Body Control of Robotic Systems

Year: 2024

Type: article

Abstract: ARC-OPT (Adaptive Robot Control using OPTimization) is a C++ library for Whole-Body Control (WBC) (Sentis & Khatib, 2006) of complex robotic systems, such as humanoids, quadrupedal robots, or mobile manipulators.In general, WBC describes a robot control problem in terms of costs and constraints of a quadratic program (QP).The cost function thereby minimizes the residuals of multiple feedback controllers, each dedicated to a specific robot task, along with further objectives.In each control cycle, the QP is solved and the solution, which should fulfill all objectives if possible, is sent to the robot's actuators.WBC is a reactive control approach, which targets redundant robots and is able to control multiple tasks simultaneously, like, e.g., grasping and balancing on a humanoid robot.

Source: The Journal of Open Source Software

DOI: 10.21105/joss.06696

Authors: Dennis Mronga, Frank Kirchner

Institutions: German Research Centre for Artificial Intelligence, University of Bremen

Language: English

Topic: Robotic Locomotion and Control

Subfield: Biomedical Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: diamond

Funder: Bundesministerium für Bildung und Forschung

Award: G6125307472