Paper Info
Title
Torque based stabilization control for torque sensorless humanoid robots
Abstract
This paper proposes a stabilization control for joint torque controlled humanoid robots without joint torque sensors. The proposed controller's role is to compute all joint torques from the desired positions/postures of floating end effectors, the desired Center Of Gravity (COG), the desired root link posture and the reference Zero Moment Point (ZMP). The controller uses a very simple strategy based on the Single Degree Of Freedom (SDOF) model and statics. First, it calculates the wrenches at the COG or end effectors to keep their positions/postures. Second, it calculates the contact end effector wrenches by solving a constrained optimization problem. Finally, it computes joint torques from all end effector wrenches. Furthermore, we propose a method by which we control joint torques without joint torque sensors by compensating inertia torques and frictions. We implement the stabilization controller and the joint torque controller in a high-power biped robot. We confirm the effectiveness of the proposed controller through balancing and walking experiments on rough terrain.
Year
DOI
Venue
2017
10.1109/HUMANOIDS.2017.8246908
2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)
Keywords
Field
DocType
inertia torques,frictions,stabilization controller,joint torque controller,torque sensorless humanoid robots,end effectors,SDOF,Single Degree Of Freedom,ZMP,Zero Moment Point,COG,Center Of Gravity,root link posture
Control theory,Torque,Computer science,Control theory,Robot end effector,Zero moment point,Wrench,Inertia,Robot,Humanoid robot
Conference
ISBN
Citations 
PageRank 
978-1-5386-4679-3
0
0.34
References 
Authors
12
7
Name
Order
Citations
PageRank
Hiroto Suzuki100.34
Yuya Nagamatsu213.06
Takuma Shirai3126.24
Shunichi Nozawa48515.81
Yohei Kakiuchi52113.94
Kei Okada6534118.08
Masayuki Inaba72186410.27