A Whole-Body Control Framework Based on the Operational Space Formulation Under Inequality Constraints via Task-Oriented Optimization

This paper presents practical enhancements of the operational space formulation (OSF) to exploit inequality constraints for whole-body control a high degree freedom robot with floating base and multiple contacts, such as humanoids. A task-oriented optimisation method is developed obtain feasible torque resolution solely task variables based on OSF, which effectively reduces number variables. Interestingly, proposed scheme amends assigned tasks demand satisfying conditions, while dynamic consistency among contact-constrained preserved. In addition, we propose an efficient algorithm structure ameliorating real-time capability has been major hurdle transplant methods into OSF-based framework. Control performance, feasibility optimised solution, computation time framework are verified through realistic simulations humanoid. We also clarify pros cons compared existing optimisation-based ones, may offer insight engineers select controllers necessitated from desired application.