Stanford Whole-Body Control Framework

436b487f0efb27f82e4cb59aa0dcdbfb99a3c974 Fri, 29 Apr 2011 17:29:30 -0700

   Copyright (C) 2008-2011 The Board of Trustees of The Leland Stanford Junior University. All Rights Reserved.

   This program is free software: you can redistribute it and/or
   modify it under the terms of the GNU Lesser General Public License
   as published by the Free Software Foundation, either version 3 of
   the License, or (at your option) any later version.

   This program is distributed in the hope that it will be useful, but
   WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
   Lesser General Public License for more details.
   

The Whole-Body Control framework developed at the Stanford Robotics and AI Lab provides advanced control for human-centered robotics and mobile manipulation. This project provides a framework for developing robot behaviors that use operational-space hierarchical task decompositions, based on the work of many contributors over many years, under the guidance of and in collaboration with Oussama Khatib: most notably Jaeheung Park, K. C. Chang, Diego Ruspini, Roy Featherstone, Bob Holmberg, Francois Conti, Roland Philippsen and Luis Sentis.

Getting Started

• Read about joint-space dynamics
• Run the tutorials
• Read about operational-space whole-body control

Bibliography

Here is a list of some publications from the Stanford Robotics and AI Lab which are the most relevant in the context of this software. Please cite our papers if you use our software.

Note that several of the listed publications are about advanced control approaches which are not included in the stanford_wbc software framework. In particular, it does not contain any code for free-floating bases, collision detection, supporting contacts, or virtual linkages.

• L. Sentis and O. Khatib. Synthesis of Whole-Body Behaviors Through Hierarchical Control of Behavioral Primitives. International Journal of Humanoid Robotics. Vol. 2, No. 4, pp. 505-518, December 2005.

• O. Khatib, L. Sentis, J. Park, and J. Warren. Whole Body Dynamic Behavior and Control of Human-Like Robots. International Journal of Humanoid Robotics. Vol. 1, No. 1, pp. 29-44, March 2004.

• K.-S. Chang and O. Khatib. Efficient Recursive Algorithm for the Operational Space Inertia Matrix of Branching Mechanisms. Advanced Robotics. Vol. 14, No. 8, pp. 703-715, 2001.

• O. Khatib. Mobile Manipulation: The Robotic Assistant. Journal of Robotics and Autonomous Systems. Vol. 26, pp. 175-183, February 1999.

• O. Khatib. A Unified Approach for Motion and Force Control of Robot Manipulators: The Operational Space Formulation. IEEE Journal of Robotics and Automation. Vol. RA-3, No. 1, pp. 43-53, February 1987.

Bibtex entries for the publication list

   @article{Sentis:05a,
	author = {L.~Sentis and O.~Khatib},
	title = {Synthesis of Whole-Body Behaviors Through Hierarchical Control of Behavioral Primitives},
	journal = {International Journal of Humanoid Robotics},
	volume = {2},
	number = {4},
	month = {dec},
	pages = {505--518},
	year = {2005}
   }
   
   @article{Khatib:04b,
	author = {O.~Khatib and L.~Sentis and J.~Park and J.~Warren},
	title = {Whole Body Dynamic Behavior and Control of Human-Like Robots},
	journal = {International Journal of Humanoid Robotics},
	volume = {1},
	number = {1},
	month = {mar},
	pages = {29--44},
	year = {2004}
   }
   
   @article{Chang:01,
	author = {K.-S.~Chang and O.~Khatib},
	title = {Efficient Recursive Algorithm for the Operational Space Inertia Matrix of Branching Mechanisms},
	journal = {Advanced Robotics},
	volume = {14},
	number = {8},
	pages = {703--715},
	year = {2001}
   }

   @article{Khatib:99c,
	author = {O.~Khatib},
	title = {Mobile Manipulation: {T}he Robotic Assistant},
	journal = {Journal of Robotics and Autonomous Systems},
	month = {feb},
	volume = {26},
	pages = {175--183},
	year = {1999}
   }

   @article{Khatib:87b,
	author = {O.~Khatib},
	title = {A Unified Approach for Motion and Force Control of Robot Manipulators: {T}he Operational Space Formulation},
	journal = {{I}{E}{E}{E} Journal of Robotics and Automation},
	volume = {RA-3},
	number = {1},
	pages = {43--53},
	month = {feb},
	year = {1987}
   }
   

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