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Robot hands based on fluidic actuators are a promising technology for humanoid robots due to their compact size and excellent power-weight-ratio. Yet, such actuators are difficult to control due to the inherent nonlinearities of pneumatic systems. In this paper we present a control approach based on a simplified model of the fluidic actuator providing force and position control and further fingertip...
A large variety of doors and drawers can be found within human environments. Humans regularly operate these mechanisms without difficulty, even if they have not previously interacted with a particular door or drawer. In this paper, we empirically demonstrate that equilibrium point control can enable a humanoid robot to pull open a variety of doors and drawers without detailed prior models, and infer...
This paper describes 3D biped walking generation and control based on Limit Cycle Walking. In our study, we use the simplest possible 3D biped model with three DOFs, incorporating roll and pitch motions in the frontal/sagittal planes, respectively. Our approach dynamically decouples these two motions, stabilizes pitch motion in the sagittal plane via the Limit Cycle Walking approach, introduces robustness...
This paper presents a new control architecture for compliant motion control and safe physical interaction between humanoid robot and human. One of the key technologies in this framework is the torque transformer, which enables the implementation of joint torque control on the traditional joint position controlled robots. In this framework, the torque control is accomplished by converting desired joint...
This paper presents a standing balance controller that explicitly handles pushes. We employ a library of optimal trajectories and the neighboring optimal control method to generate local approximations to the optimal control. We take advantage of a parametric nonlinear optimization method, SNOPT, to generate initial trajectories and then use Differential Dynamic Programming (DDP) to further refine...
This paper introduces a new method that enables compliant joint control on a traditional joint position controlled system by using Torque to Position Transformer. In this method, torque control is accomplished by converting desired joint torques into instantaneous increments of joint position command. For each joint, the transformer was modeled based on the identification of the individual motor controller...
The biped Lucy, powered by pleated pneumatic artificial muscles, has been built and controlled and is able to walk up to a speed of 0.15 m/s. The pressures inside the muscles are controlled by a joint trajectory tracking controller to track the desired joint trajectories calculated by a trajectory generator. However, the actuators are set to a fixed stiffness value. In this paper a compliance controller...
It is proposed the local axis gait algorithm in order to generate real-time gait patterns for a humanoid robot. The 3D foot motion planning for the humanoid global motion is developed in order to walk in any surface as plane, ramp, climbing stairs. Furthermore, it is possible continuous change the step length and orientation in real time. The cart-table model is used for planning COG and ZMP motion...
This paper proposes a gain switching algorithm for joint position control of a hydraulic humanoid robot. Accurate position control of the lower body is one of the basic requirements for robust balance and walking control. Joint position control is more difficult for hydraulic robots than it is for electric robots because of a slower actuator time constant and the back-drivability of hydraulic joints...
This paper presents a method of generating natural-looking motion primitives for humanoid robots. An optimization-based approach is used to generate these primitives, but the objective function is tailored to each one and complexity is reduced by identifying relevant degrees of freedom. Several examples are shown in simulation: for an arm movement to reach an object, it is better to minimize the acceleration...
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