Towards the Unification of Locomotion and Manipulation through Control Lyapunov Functions and Quadratic Programs

Abstract

This paper presents the first steps toward unifying locomotion controllers and algorithms with whole-body control and manipulation. A theoretical framework for this unification will be given based upon quadratic programs utilizing control Lyapunov functions. In particular, we will first consider output based feedback linearization strategies for locomotion together with whole-body control methods for manipulation. We will show that these two traditionally disjoint methods are equivalent through the correct choice of controller. We will then present a method for unifying these two methodologies through the use of control Lyapunov functions presented in the form of a quadratic program. In addition, it will be shown that these controllers can be combined with force-based control to achieve locomotion and force-based manipulation in a single framework. Finally, simulation results will be presented demonstrating the validity of the proposed framework. © Springer International Publishing Switzerland 2013.