Title
Implementation, Identification and Control of an Efficient Electric Actuator for Humanoid Robots.
Abstract
Autonomous robots such as legged robots and mobile manipulators imply new challenges in the design and the control of their actuators. In particular, it is desirable that the actuators are back-drivable, efficient (low friction) and compact. In this paper, we report the complete implementation of an advanced actuator based on screw, nut and cable. This actuator has been chosen for the humanoid robot Romeo. A similar model of the actuator has been used to control the humanoid robot Valkyrie. We expose the design of this actuator and present its Lagrangian model. The actuator being flexible, we propose a two-layer optimal control solver based on Differential Dynamical Programming. The actuator design, model identification and control is validated on a full actuator mounted in a work bench. The results show that this type of actuation is very suitable for legged robots and is a good candidate to replace strain wave gears.
Year
Venue
Field
2018
ICINCO
Robot control,Optimal control,Valve actuator,Control theory,Control engineering,Engineering,Solver,Robot,System identification,Actuator,Humanoid robot
DocType
Citations 
PageRank 
Conference
0
0.34
References 
Authors
0
5
Name
Order
Citations
PageRank
Florent Forget100.68
Kevin Giraud-Esclasse200.34
Rodolphe Gelin321.05
Nicolas Mansard449039.67
Olivier Stasse5143885.86