A unified approach for motion and force control of robot manipulators: The operational space formulation

By Oussama Khatib. 1987

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In Robotics & Control

Citations in the corpus

What Matters in Learning from Offline Human Demonstrations for Robot Manipulation (2021, background): “Policy actions are transformed into end effector target poses and sent to an operational space controller [83] that outputs the robot joint torques at 500 Hz to try and achieve the desired cartesian poses.”
Learning to Generalize Across Long-Horizon Tasks from Human Demonstrations (2020, background): “The 6D pose of the phone serves as target for an operational space controller [19] that outputs the robot joint torques to minimize the distance to the target in Cartesian space.”
Deep visual foresight for planning robot motion (2016, methodology): “Standard model-based methods for robotic manipulation might involve estimating the physical properties of the environment, and then solving for the controls based on the known laws of physics [4], [5], [6].”
Generalization Through Hand-Eye Coordination: An Action Space for Learning Spatially-Invariant Visuomotor Control (2021, methodology): “The arm is controlled using an Operational Space Controller [13] in end effector positions.”
Learning Multi-Arm Manipulation Through Collaborative Teleoperation (2020, methodology): “All robot arms are controlled using Operational Space Controllers [15].”
Human-in-the-Loop Imitation Learning using Remote Teleoperation (2020, methodology): “The arm is controlled using an Operational Space Controller [19].”
Gibson Env: Real-World Perception for Embodied Agents (2018, background): “On the how front, the problem has been the focus of a broad set of topics for decades, ranging from classical control [64, 12, 50] to more recently sensorimotor control [33, 54, 55, 5], reinforcement learning [6, 73, 74], acting by prediction [28], imitation learning [23], and other concepts [59, 10”
Variable Impedance Control of Redundant Manipulators for Intuitive Human–Robot Physical Interaction (2015, methodology): “Matrix J † is the dynamically consistent generalized inverse of matrix J , defined as [26]”
Full-Body Compliant Human–Humanoid Interaction: Balancing in the Presence of Unknown External Forces (2007, methodology): “Although not implemented for real robots, the method [36] for fixed-base robotic manipulators was recently extended to full-body humanoid motion control in [35] with multilevel pri-”
Centroidal dynamics of a humanoid robot (2013, background): “In a sense the CoM space, in which the centroidal dynamics is described, is but an example of the task space or the operational space (Khatib 1987), which have been described for traditional manipulators and for floatingbase robots (Mistry and Righetti 2012).”
Aerodynamics and Control of Quadrotors (2017, background): “In terms of research activities, the basic manipulator problems were formulated in the 1970’s and detailed theoretical work was carried out in the 1980’s Paul [1981]; Slotine and Sastry [1983]; Khatib [1987]. These problems include mechanical design, kinematic modelling, control design and high perf”
Diffusion policy: Visuomotor policy learning via action diffusion (2023, unknown): “The controller is formulated using Operational Space Control (Khatib, 1987) as a Quadratic Program operating at 200 Hz, where position, velocity, and torque limits are added as constraints, and the primary spatial objective and secondary null-space posture objectives are posed as costs.”
Hierarchical quadratic programming: Fast online humanoid-robot motion generation (2014, methodology): “For example, such a QP formulation can also be encountered to inverse the system dynamics in the operational space (Khatib, 1987; Collette et al., 2007), compute a walking pattern (Herdt et al.”
Compliant Control of Multicontact and Center-of-Mass Behaviors in Humanoid Robots (2010, background): “The term JkUNs acts as a constrained Jacobian, which maps joint velocities into task velocities.”
Intrinsically Motivated Learning of Real-World Sensorimotor Skills with Developmental Constraints (2013, background): “…result of intrinsically motivated exploration, and the set of acquired skills and affordances increases along with time. its operational/task space (Khatib, 1987), uses it to define a target trajectory to be followed by the tip of the leg with a certain acceleration profile (corresponding to the…”