Control of a High Performance Bipedal Robot using Viscoelastic Liquid Cooled Actuators

Ahn, Junhyeok; Kim, D.; Bang, S.Y.; Paine, Nick; Sentis, Luis

doi:10.1109/humanoids43949.2019.9035023

Cited by 19 publications

(21 citation statements)

References 23 publications

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“…These losses, which are more evident in materials such as rubber, tend to be proportional to the deformation speed and are described well by a viscoelastic model, including the one reported in the table. Examples of systems that use viscoelasticity for damping are in [5], [27], [82], [83], and [84]. An advantage of these systems is that they employ the same physical element to implement elasticity and dampening.…”

Section: Viscoelastic Dampersmentioning

confidence: 99%

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Damping in Compliant Actuation: A Review

Monteleone

Negrello

Catalano

et al. 2022

IEEE Robot. Automat. Mag.

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This article has been accepted for inclusion in a future issue of this journal. Content is final as presented, with the exception of pagination.C ompliant actuator technology aims at building robots capable of physically interacting with humans and the environment, matching the versatility and capacity of biological systems. Recently, it underwent a significant evolution with the introduction of damping to improve performance. Such development reflects several aspects, including energy saving and oscillation mitigation. However, large damping values tend to increase the system impedance, worsening robot resilience and human safety during impacts. That suggests the importance of a correct tradeoff.This article reviews the application of damping solutions to compliant actuation. We classify damper systems based on the amount of active control, their physical operation principle, and the topological position of the damping element used in the various actuators. Then we study the fields of application of these devices and analyze how different design aspects correlate with one another and applications. This analysis yields insight into how design choices can influence the characteristics of actuators and the robots using them, from the viewpoint of robot resilience, human safety, power consumption, and energy storage. Finally, we provide an annotated database of the papers considered to conduct this review. OverviewThe field of compliant robotic actuation has been growing [1],[2], motivated by the intention of building robots able to cope with unknown environments [3], behave safely in humanrobot interaction [4], tolerate shocks [5], store energy [6], [7], and move agilely on legs [8]- [10]. Nevertheless, when compared to rigid equivalent robots, compliant actuation underperforms in some domains. Among other aspects, reduced control authority bandwidth can lead to undesired oscillations and vibrations [11], which can, in turn, reduce precision, compromise stability, and waste energy. Through the years, it became clear that to mitigate such limitations [12], which can jeopardize the very advantage of using compliant actuation in the first place, the inclusion of some form of damping action [13] is mandatory.

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Section: Viscoelastic Dampersmentioning

confidence: 99%

“…Examples of devices designed with it are [5], [26], [44], [55], [61], [63], [64], [79], [86], [87], [89], [92], [101], and [102].…”

Section: The Seawepdmentioning

confidence: 99%

Damping in Compliant Actuation: A Review

Monteleone

Negrello

Catalano

et al. 2022

IEEE Robot. Automat. Mag.

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“…Additionally, the ankle structure utilizes a compliant element (steel leaf spring) to connect one end of the actuator to the structure. As such, the ankle is configured as a series elastic actuator [22,51] in which the compliant element has a relatively small range of motion (after which the compliant element saturates). The deformation of this series spring is measured differentially by two encoders in order to provide a measurement of ankle torque as described in [41].…”

Section: B Ankle Structurementioning

confidence: 99%

A Semi-Powered Ankle Prosthesis and Unified Controller for Level and Sloped Walking

Bartlett

King

Goldfarb

et al. 2021

IEEE Trans. Neural Syst. Rehabil. Eng.

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“…In our previous work (Ahn et al, 2019;Kim et al, 2020), we successfully achieved unsupported dynamic stepping with DRACO using a PM model-based reactive footstep planner and a projection-based WBC. However, the dynamic stability required continuous stepping without the ability to halt, which is not suitable for loco-manipulation tasks that require the robot to have zero velocity at the end of each movement (Jorgensen et al, 2020).…”

Section: Whole-body Controlmentioning

confidence: 99%

Versatile Locomotion Planning and Control for Humanoid Robots

et al. 2021

Self Cite

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We propose a locomotion framework for bipedal robots consisting of a new motion planning method, dubbed trajectory optimization for walking robots plus (TOWR+), and a new whole-body control method, dubbed implicit hierarchical whole-body controller (IHWBC). For versatility, we consider the use of a composite rigid body (CRB) model to optimize the robot’s walking behavior. The proposed CRB model considers the floating base dynamics while accounting for the effects of the heavy distal mass of humanoids using a pre-trained centroidal inertia network. TOWR+ leverages the phase-based parameterization of its precursor, TOWR, and optimizes for base and end-effectors motions, feet contact wrenches, as well as contact timing and locations without the need to solve a complementary problem or integer program. The use of IHWBC enforces unilateral contact constraints (i.e., non-slip and non-penetration constraints) and a task hierarchy through the cost function, relaxing contact constraints and providing an implicit hierarchy between tasks. This controller provides additional flexibility and smooth task and contact transitions as applied to our 10 degree-of-freedom, line-feet biped robot DRACO. In addition, we introduce a new open-source and light-weight software architecture, dubbed planning and control (PnC), that implements and combines TOWR+ and IHWBC. PnC provides modularity, versatility, and scalability so that the provided modules can be interchanged with other motion planners and whole-body controllers and tested in an end-to-end manner. In the experimental section, we first analyze the performance of TOWR+ using various bipeds. We then demonstrate balancing behaviors on the DRACO hardware using the proposed IHWBC method. Finally, we integrate TOWR+ and IHWBC and demonstrate step-and-stop behaviors on the DRACO hardware.

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Control of a High Performance Bipedal Robot using Viscoelastic Liquid Cooled Actuators

Cited by 19 publications

References 23 publications

Damping in Compliant Actuation: A Review

Damping in Compliant Actuation: A Review

A Semi-Powered Ankle Prosthesis and Unified Controller for Level and Sloped Walking

Versatile Locomotion Planning and Control for Humanoid Robots

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