Passive Inverse Dynamics Control Using a Global Energy Tank for Torque-Controlled Humanoid Robots in Multi-Contact

Ramuzat, Noëlie; Boria, Sébastien; Stasse, Olivier

doi:10.1109/lra.2022.3144767

Cited by 8 publications

(9 citation statements)

References 30 publications

(48 reference statements)

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“…The force value 15 N was chosen based on an initial investigation which has shown that a screw tightened with 3 Nm needs approximately 15-20 N of force applied to avoid slippage. The maximum energy threshold E total was selected according to ISO/TS 15066:2016 [29] that specified a range of 0.52 -2.5 J, the value for P motion and the threshold for the power limit on the energy tank P tank were picked according to earlier results in [17], [18] and in [24], respectively.…”

Section: Resultsmentioning

confidence: 99%

Design of an Energy-Aware Cartesian Impedance Controller for Collaborative Disassembly

Hjorth¹,

Lamon²,

Chrysostomou³

et al. 2023

Preprint

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Human-robot collaborative disassembly is an emerging trend in the sustainable recycling process of electronic and mechanical products. It requires the use of advanced technologies to assist workers in repetitive physical tasks and deal with creaky and potentially damaged components. Nevertheless, when disassembling worn-out or damaged components, unexpected robot behaviors may emerge, so harmless and symbiotic physical interaction with humans and the environment becomes paramount. This work addresses this challenge at the control level by ensuring safe and passive behaviors in unplanned interactions and contact losses. The proposed algorithm capitalizes on an energy-aware Cartesian impedance controller, which features energy scaling and damping injection, and an augmented energy tank, which limits the power flow from the controller to the robot. The controller is evaluated in a real-world flawed unscrewing task with a Franka Emika Panda and is compared to a standard impedance controller and a hybrid force-impedance controller. The results demonstrate the high potential of the algorithm in human-robot collaborative disassembly tasks.

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Section: Resultsmentioning

confidence: 99%

Design of an Energy-Aware Cartesian Impedance Controller for Collaborative Disassembly

Hjorth¹,

Lamon²,

Chrysostomou³

et al. 2023

Preprint

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“…where I u is the n 3 n generalized inertia matrix, and H u is the convective inertia matrix as given in equations ( 29) to (30), respectively…”

Section: Robot Modellingmentioning

confidence: 99%

Torque control of a wheeled humanoid robot with dual redundant arms

Sulaiman,

Sudheer,

Magid

2023

Proceedings of the Institution of Mechanical Engineers, Part I:

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Most of conventional controllers are prone to consume more computational time for controlling a wheeled humanoid robot. A nonlinear trajectory control of a wheeled humanoid robot using a model-based controller with less computational load and energy consumption is presented in this article. The upper body of the humanoid robot consists of two 6 degrees of freedom redundant arms, a three degrees of freedom torso and a two degrees of freedom neck. The nonholonomic mobile platform consists of two actuated wheels and two caster wheels. Nonlinearity of the robot dynamic model and coupling between various branches of the upper body are taken into account. The dynamic model derived using Newton–Euler approach along with decoupled Natural Orthogonal Complement matrix approach is used to derive dynamic equations of the upper body and the wheeled platform. Zero moment point based stability approach is used for verifying stable motion of the wheeled humanoid robot with minimum energy and time consumption to complete a task. The proposed computed torque controller is compared with other similar controllers developed for the same robot model to prove advantages of the proposed torque controller. Simulation results are experimentally validated with the real robot.

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“…Their introduction into industries, such as health care, with complex interactive behaviour has revealed the limitations of traditional industrial controllers. The impedance controller [1][2][3][4][5][6] is a widespread technique enabling robots to interact with uncertain environments. This control technique relies on inverse dynamics modelling to drive the robot to act with a desired mechanical impedance, such as a linear Mass-Spring-Damper system [1,7].…”

Section: Introductionmentioning

confidence: 99%

“…Examples are environments that require adaptive trajectories and/or variable impedance gains [8], as well as tasks with uncertain end-effector contact against other agents or the environment (e.g., polishing, physical human-robot collaboration, etc.) [3][4][5][6][9][10][11][12][13]. Such tasks pose various challenges to robots' controllers that currently require an accurate model of contact conditions to ensure system stability.…”

Section: Introductionmentioning

confidence: 99%

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Fractal impedance for passive controllers: a framework for interaction robotics

et al. 2022

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There is increasing interest in control frameworks capable of moving robots from industrial cages to unstructured environments and coexisting with humans. Despite significant improvement in some specific applications (e.g., medical robotics), there is still the need for a general control framework that improves interaction robustness and motion dynamics. Passive controllers show promising results in this direction; however, they often rely on virtual energy tanks that can guarantee passivity as long as they do not run out of energy. In this paper, a Fractal Attractor is proposed to implement a variable impedance controller that can retain passivity without relying on energy tanks. The controller generates a Fractal Attractor around the desired state using an asymptotic stable potential field, making the controller robust to discretization and numerical integration errors. The results prove that it can accurately track both trajectories and end-effector forces during interaction. Therefore, these properties make the controller ideal for applications requiring robust dynamic interaction at the end-effector.

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Passive Inverse Dynamics Control Using a Global Energy Tank for Torque-Controlled Humanoid Robots in Multi-Contact

Cited by 8 publications

References 30 publications

Design of an Energy-Aware Cartesian Impedance Controller for Collaborative Disassembly

Design of an Energy-Aware Cartesian Impedance Controller for Collaborative Disassembly

Torque control of a wheeled humanoid robot with dual redundant arms

Fractal impedance for passive controllers: a framework for interaction robotics

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