Optimization based controller design and implementation for the Atlas robot in the DARPA Robotics Challenge Finals

@article{Feng2015OptimizationBC,
  title={Optimization based controller design and implementation for the Atlas robot in the DARPA Robotics Challenge Finals},
  author={Siyuan Feng and X. Xinjilefu and Christopher G. Atkeson and Joohyung Kim},
  journal={2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)},
  year={2015},
  pages={1028-1035}
}
We describe the design and hardware implementation of our walking and manipulation controllers that are based on a cascade of online optimizations. A virtual force acting at the robot's center of mass (CoM) is estimated and used to compensated for modeling errors of the CoM and unplanned external forces. The proposed controllers have been implemented on the Atlas robot, a full size humanoid robot built by Boston Dynamics, and used in the DARPA Robotics Challenge Finals, which consisted of a… CONTINUE READING
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