Benchmarking Whole-Body Controllers on the TALOS Humanoid Robot
| Autor: | N. Ramuzat, O. Stasse, S. Boria |
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| Přispěvatelé: | Équipe Mouvement des Systèmes Anthropomorphes (LAAS-GEPETTO), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), Airbus [France], This works is funded by the ROB4FAM research agreement., ANR-19-P3IA-0004,ANITI,Artificial and Natural Intelligence Toulouse Institute(2019) |
| Rok vydání: | 2021 |
| Předmět: | |
| Zdroj: | Frontiers in Robotics and AI Frontiers in Robotics and AI, 2022, 9, pp.826491. ⟨10.3389/frobt.2022.826491⟩ |
| ISSN: | 2296-9144 |
| DOI: | 10.3389/frobt.2022.826491⟩ |
| Popis: | International audience; This paper presents a comparison of three control schemes applied on the commercially available TALOS Humanoid Robot. The aim is to highlight the advantages and drawbacks of each model applied on three locomotion problems: walking on flat and non-flat terrain and climbing stairs. The different models are based on position control (first and second models) or torque control (third model). The first one uses a hierarchical quadratic program at velocity level. The second one employs a weighted quadratic program named Task Space Inverse Dynamic (TSID) at acceleration level. Finally, the last one also uses TSID but at torque level. The controllers performances are compared in simulation, using Gazebo, on the accuracy of their tracking, their energy consumption and their computational time execution. |
| Databáze: | OpenAIRE |
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