In the initial phase of the project, we had implemented computed torque control and gravity compensated PD control in MATLAB which took into account both arms of the ATLAS with the origin centered at the pelvis. These controllers worked in the desired trajectory ranges. Currently we are working on porting these controllers to the ATLAS environment. These controllers do not take into account the stability of the robot, hence they should be used in conjunction with the existing full body controller.
Dual Arm Manipulation Control of ATLAS
The goal of this project is to create a task specific controller over the existing full body controller in ATLAS that provides overall stability to the robot. The controller aims to provide synchronized arm manipulation which is required by tasks such as lifting of a tray, block etc. Such tasks are not easily achievable by the existing control algorithm.