A Whole-Body Software Abstraction layer for Control Design of free-floating Mechanical Systems

摘要

In this paper, we propose a software abstraction layer to simplify the designand synthesis of whole-body controllers without making any preliminaryassumptions on the control law to be implemented. The main advantage of theproposed library is the decoupling of the control software from implementationdetails, which are related to the robotic platform. Furthermore, the resultingcode is more clean and concise than ad-hoc code, as it focuses only on theimplementation of the control law. In addition, we present a referenceimplementation of the abstraction layer together with a Simulink interface toprovide support to Model-Driven based development. We also show theimplementation of a simple proportional-derivative plus gravity compensationcontrol together with a more complex momentum-based bipedal balance controller.