Title | ||
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A Compliant Humanoid Walking Strategy Based On The Switching Of State Feedback Gravity Compensation Controllers |
Abstract | ||
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This paper provides stability analyses for two different types of desired gravity compensation controllers, employing both motor and link feedback, and describes a means by which these controllers can be used to control a compliant humanoid robot in order to ensure the successful execution of walking trajectories. Given the challenging task of controlling compliant bipedal systems, owing to their possession of under-actuated degrees of freedom, the full actuator and link dynamics are accounted for. The proposed walking strategy involves a process of switching between three distinct controllers which is contingent upon the force feedback provided by the force/torque sensors embedded in the robot's feet. These controllers were tuned using a simulation model of the robot and were then implemented on the compliant COMAN legs, whose performance of walking confirms the controllers' stability, in addition to the walking scheme's efficacy. |
Year | Venue | Keywords |
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2013 | 2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | force feedback,actuators,humanoid robots,gravity,stability |
Field | DocType | ISSN |
Gravity compensation,Torque,Computer science,Control theory,Control engineering,Underactuation,Robot,Haptic technology,Humanoid robot,Actuator | Conference | 2153-0858 |
Citations | PageRank | References |
3 | 0.40 | 16 |
Authors | ||
5 |
Name | Order | Citations | PageRank |
---|---|---|---|
Emmanouil Spyrakos-Papastavridis | 1 | 12 | 3.05 |
Gustavo A. Medrano-Cerda | 2 | 278 | 34.32 |
NG Tsagarakis | 3 | 1492 | 159.09 |
Jian S. Dai | 4 | 178 | 30.53 |
Darwin G. Caldwell | 5 | 2900 | 319.72 |