Natural admittance control of an electro-hydraulic humanoid robot

Lee, Kit-Hang; Newman, Wyatt S.

doi:10.1109/robio.2014.7090479

Cited by 8 publications

(3 citation statements)

References 13 publications

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“…The theory of control introduces the concepts of admittance control and impedance control (Hogan and Buerger, n.d.; Richardson et al, 2005), which were introduced by analogy of mechanical systems to electric ones. In the admittance, control signal from the force sensor is converted into position signals (velocity) by modifying the operation of the control algorithm (Fernando et al, n.d.;Lee and Newman, 2014). This involves proper correction of the set-point position (velocity) based on the variables of force.…”

Section: Admittance Controlmentioning

confidence: 99%

Admittance control of an electro-hydraulic servo-drive

2018

Engineering Mechanics

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The article describes the possibilities of electro-hydraulic servo-drive control in the admittance system. The principle of admittance control is presented and a method for implementing this kind of control for the servo drive controller has been proposed. Admittance method can be effective when there is a need for exerting precise force. This kind of measure extends the capabilities of control systems which uses only measurement of the displacement.

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Section: Admittance Controlmentioning

confidence: 99%

Admittance control of an electro-hydraulic servo-drive

2018

Engineering Mechanics

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“…Assuming τ ext = 0 during identification procedure, the influence of (15) can be incorporated by subtracting (15) from both sides in (14). This leads to the friction-corrected motor torque…”

Section: Rigid Body and Friction Identificationmentioning

confidence: 99%

“…For hydraulic humanoid robots, basic compliance control schemes were implemented on the SARCOS humanoid, focussing on balancing and contact Jacobians [12], on constraint handling via quadratic programming [13] or with LQR feedback gain optimization [14]. The concept of admittance control (position-based impedance control) has been implemented on the Atlas robot in [15].…”

Section: Introduction and State Of The Artmentioning

confidence: 99%

Soft robotics for the hydraulic atlas arms: Joint impedance control with collision detection and disturbance compensation

Vorndamme

Schappler

Tödtheide

et al. 2016

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Soft robotics methods such as impedance control and reflexive collision handling have proven to be a valuable tool to robots acting in partially unknown and potentially unstructured environments. Mainly, the schemes were developed with focus on classical electromechanically driven, torque controlled robots. There, joint friction, mostly coming from high gearing, is typically decoupled from link-side control via suitable rigid or elastic joint torque feedback. Extending and applying these algorithms to stiff hydraulically actuated robots poses problems regarding the strong influence of friction on joint torque estimation from pressure sensing, i.e. link-side friction is typically significantly higher than in electromechanical soft robots. In order to improve the performance of such systems, we apply state-of-the-art fault detection and estimation methods together with observer-based disturbance compensation control to the humanoid robot Atlas. With this it is possible to achieve higher tracking accuracy despite facing significant modeling errors. Compliant end-effector behavior can also be ensured by including an additional force/torque sensor into the generalized momentum-based disturbance observer algorithm from [1].

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