ADVANCED STEPS IN BIPED ROBOTICS: INNOVATIVE DESIGN AND INTUITIVE CONTROL THROUGH SPRING-DAMPER ACTUATOR
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Date
2004
Authors
Scarfogliero, Umberto
Folgheraiter, Michele
Gini, Giuseppina
Journal Title
Journal ISSN
Volume Title
Publisher
4th IEEE/RAS International Conference on Humanoid Robots
Abstract
This paper focuses on the study and design of an anthropomorphical
light biped robot. The robot presents a
total of twelve degree of freedom that will permit it to
act a walk in a three dimensional space, right now tested
only in simulation. Each joint resemble the functionalities
of the human articulation and is moved by tendon
connected with actuator located in the robot’s pelvis. We
implemented and tested an innovative actuator that permits
to set the joint stiffness in real time maintaining a
simple position control paradigm. The controller is able
to estimate the external load measuring the spring deflection
and demonstrated to be particularly robust respect
to system uncertainties, such as inertia value changes.
Comparing the resulting control law with existing models
we found several similarities with the Equilibrium Point
Theory.
Description
Keywords
Humanoid Robotics, Biped, Joint Stiffness Control, Equilibrium Point Hypothesis
Citation
Umberto Scarfogliero, Michele Folgheraiter, Giuseppina Gini; 2004; ADVANCED STEPS IN BIPED ROBOTICS: INNOVATIVE DESIGN AND INTUITIVE CONTROL THROUGH SPRING-DAMPER ACTUATOR; 4th IEEE/RAS International Conference on Humanoid Robots; http://nur.nu.edu.kz/handle/123456789/2333