A Unifying Framework for Robot Control with Redundant DOFs
Jan Peters, Michael Mistry, Firdaus Udwadia, Jun Nakanishi and Stefan Schaal
Autonomous Robots Journal Volume 24, Number 1, pp. 1-12, 2008.

Abstract

Recently, (Udwadia, 2003) suggested to derive tracking controllers for mechanical systems with redundant degrees-of-freedom (DOFs) using a generalization of Gauss’ principle of least constraint. This method allows reformulating control problems as a special class of optimal controllers. In this paper, we take this line of reasoning one step further and demonstrate that several well-known and also novel nonlinear robot control laws can be derived from this generic methodology. We show experimental verifica- tions on a Sarcos Master Arm robot for some of the the derived controllers. The suggested approach o

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