Whole-Body Compliant Motion by Sensor Integration of an EHA-Driven Humanoid Hydra
| Autor: | Kazuya Murotani, Tianyi Ko, Yoshihiko Nakamura, Ko Yamamoto |
|---|---|
| Rok vydání: | 2021 |
| Předmět: |
0209 industrial biotechnology
Computer science Property (programming) Mechanical Engineering Electro-hydraulic actuator 02 engineering and technology High torque Motion (physics) law.invention 020901 industrial engineering & automation Artificial Intelligence Control theory law 0202 electrical engineering electronic engineering information engineering Robot 020201 artificial intelligence & image processing Lernaean Hydra Actuator Whole body |
| Zdroj: | International Journal of Humanoid Robotics. 18:2150002 |
| ISSN: | 1793-6942 0219-8436 |
| Popis: | Joints’ backdrivability is desired for robots that perform tasks contacting the environment, in addition to the high torque and fast response property. The electro-hydrostatic actuator (EHA) is an approach to realize force-sensitive robots. To experimentally confirm the performance of a biped robot driven by EHAs, we developed the fully electro-hydrostatically driven humanoid robot Hydra. In this paper, we evaluate the whole-body control performance realized by integrating encoders, pressure sensors, and IMU through a high-speed communication bus to the distributed whole-body control system. We report the first example of bipedal locomotion by an EHA-driven robot in both position-controlled and torque-controlled approaches. The robot could keep the balance even when the ground condition was changing impulsively and utilize its high joint backdrivability to absorb a disturbance by the null space compliance. We also report practical challenges in implementing compliant control in real hardware with limitations in parameter accuracy, torque, and response. We experimentally confirmed that the resolved viscoelasticity control (RVC), which has indirect feedback of operational space tasks by projecting the operational space feedback gain to the joint space one, was effective to tune a proper gain to stabilize the center-of-mass motion while avoiding joint-level oscillation invoked by the control bandwidth limitation. The attached multimedia file includes the video of all experiments presented in the paper. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|