Actuator Control for the NASA‐JSC Valkyrie Humanoid Robot: A Decoupled Dynamics Approach for Torque Control of Series Elastic Robots

Paine, Nicholas; Mehling, Joshua S.; Holley, James; Radford, Nicolaus; Johnson, Gwendolyn; Fok, Chien-Liang; Sentis, Luis

doi:10.1002/rob.21556

Cited by 219 publications

(164 citation statements)

References 35 publications

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“…In addition, the spring can be used to measure the joint torque. However, SEA makes the robot control more complex as the actuator dynamics needs to be taken into account [11].…”

Section: A Availability Of Recent Humanoid Robot Technologiesmentioning

confidence: 99%

TALOS: A new humanoid research platform targeted for industrial applications

Stasse

Flayols

Budhiraja

et al. 2017

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)

124

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Abstract-The upcoming generation of humanoid robots will have to be equipped with state-of-the-art technical features along with high industrial quality, but they should also offer the prospect of effective physical human interaction. In this paper we introduce a new humanoid robot capable of interacting with a human environment and targeting industrial applications. Limitations are outlined and used together with the feedback from the DARPA Robotics Challenge, and other teams leading the field in creating new humanoid robots. The resulting robot is able to handle weights of 6 kg with an out-stretched arm, and has powerful motors to carry out fast movements. Its kinematics have been specially designed for screwing and drilling motions. In order to make interaction with human operators possible, this robot is equipped with torque sensors to measure joint effort and high resolution encoders to measure both motor and joint positions.The humanoid robotics field has reached a stage where robustness and repeatability is the next watershed. We believe that this robot has the potential to become a powerful tool for the research community to successfully navigate this turning point, as the humanoid robot HRP-2 was in its own time.

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“…In addition, the spring can be used to measure the joint torque. However, SEA makes the robot control more complex as the actuator dynamics needs to be taken into account [11].…”

Section: A Availability Of Recent Humanoid Robot Technologiesmentioning

confidence: 99%

TALOS: A new humanoid research platform targeted for industrial applications

Stasse

Flayols

Budhiraja

et al. 2017

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)

124

View full text Add to dashboard Cite

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“…Despite these difficulties, SEA has been applied to robotic applications in various fields to take advantage of the high fidelity force control of SEA [3][4][5][6][7][8][9][10][11][12]. Lots of applications of SEA for quadruped robots, biped robot, dual arm robots and wearable robots, have demonstrated that SEA is the promising actuator system.…”

Section: Introductionmentioning

confidence: 99%

Generalization of Series Elastic Actuator Configurations and Dynamic Behavior Comparison

Lee

Kwak

et al. 2017

Actuators

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Abstract:The Series Elastic Actuator (SEA) has recently been developed by many research groups and applied in various fields. As SEA is the combination of motor, spring, gear and load, various types and configurations of mechanism have been developed as SEAs to satisfy many requirements necessary for the applications. This paper provides a theoretical framework to categorize and compare these various configurations of SEAs. The general structure and model of SEA is provided, and SEA configurations are categorized into Force-sensing Series Elastic Actuator, Reaction Force-sensing Series Elastic Actuator and Transmitted Force-sensing Series Elastic Actuator, based on the relative location of the spring. Criteria such as Force sensitivity, Compliance and Transmissibility of SEA are derived and compared using actual SEAs that have been developed previously.

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“…Therefore, they have been widely used in many advanced robot applications, e.g., industrial robots of the Rethink robotics, the Valkyrie and COMAN humanoid robots, and the RoboKnee and LOPES exoskeletons [17][18][19][20][21]. The motion control problem of SEAs is more complicated than that of conventional actuators due to their fourth order dynamic model.…”

Section: Introductionmentioning

confidence: 99%

“…To improve the robustness and performance of the real force control implementations, Disturbance Observer (DOb) was first applied to an SEA by Kong et al [24]. The robust force controller was also similarly applied to the University of Texas's SEA (UT-SEA) and Valkyrie in [18,25]. In these applications, DOb is designed for the velocity feed-back loop which is used to improve the stability of SEAs in [15,22].…”

Section: Introductionmentioning

confidence: 99%

A robust force controller design for series elastic actuators

Sarıyıldız

Huang

2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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A Series Elastic Actuator (SEA) is designed by placing a passive compliant element between a conventional stiff actuator and link. The intrinsically compliant mechanical structure provides several superiorities, e.g., safety, energy efficiency, high force fidelity, low cost force measurement, high transparency, etc., in advanced robot applications, such as humanoids, quadrupeds and exoskeletons. However, the motion control problem of an SEA is more complicated than that of a conventional stiff actuator due to its higher order dynamics. This paper proposes a novel Active Disturbance Rejection (ADR) based robust force controller for SEAs by combining Differential Flatness (DF) and Disturbance Observer (DOb) in state space. The robust state and control input references are systematically generated in terms of a fictitious variable, namely differentially flat output, estimated disturbances and their successive derivatives. A second order DOb is designed in state space so that disturbances and their first and second order derivatives are estimated. It is experimentally shown that high performance force control applications can be performed without requiring the precise dynamic models of the actuator and environment when the proposed robust force controller is implemented. This conference paper is available at Research Online: http://ro.uow.edu.au/eispapers1/1197  Abstract-A Series Elastic Actuator (SEA) is designed by placing a passive compliant element between a conventional stiff actuator and link. The intrinsically compliant mechanical structure provides several superiorities, e.g., safety, energy efficiency, high force fidelity, low cost force measurement, high transparency, etc., in advanced robot applications, such as humanoids, quadrupeds and exoskeletons. However, the motion control problem of an SEA is more complicated than that of a conventional stiff actuator due to its higher order dynamics. This paper proposes a novel Active Disturbance Rejection (ADR) based robust force controller for SEAs by combining Differential Flatness (DF) and Disturbance Observer (DOb) in state space. The robust state and control input references are systematically generated in terms of a fictitious variable, namely differentially flat output, estimated disturbances and their successive derivatives. A second order DOb is designed in state space so that disturbances and their first and second order derivatives are estimated. It is experimentally shown that high performance force control applications can be performed without requiring the precise dynamic models of the actuator and environment when the proposed robust force controller is implemented.

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Actuator Control for the NASA‐JSC Valkyrie Humanoid Robot: A Decoupled Dynamics Approach for Torque Control of Series Elastic Robots

Cited by 219 publications

References 35 publications

TALOS: A new humanoid research platform targeted for industrial applications

TALOS: A new humanoid research platform targeted for industrial applications

Generalization of Series Elastic Actuator Configurations and Dynamic Behavior Comparison

A robust force controller design for series elastic actuators

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