Paper Info
Title
Control of a High Performance Bipedal Robot using Viscoelastic Liquid Cooled Actuators
Abstract
This paper describes the control, and evaluation of a new human-scaled biped robot with liquid cooled viscoelastic actuators (VLCA). Based on the lessons learned from previous work from our team on VLCA, we present a new system design embodying a Reaction Force Sensing Series Elastic Actuator and a Force Sensing Series Elastic Actuator. These designs are aimed at reducing the size and weight of the robot's actuation system while inheriting the advantages of our designs such as energy efficiency, torque density, impact resistance and position/force controllability. The robot design takes into consideration human-inspired kinematics and range-of-motion, while relying on foot placement to balance. In terms of actuator control, we perform a stability analysis on a Disturbance Observer designed for force control. We then evaluate various position control algorithms both in the time and frequency domains for our VLCA actuators. Having the low level baseline established, we first perform a controller evaluation on the legs using Operational Space Control. Finally, we move on to evaluating the full bipedal robot by accomplishing unsupported dynamic walking.
Year
DOI
Venue
2019
10.1109/Humanoids43949.2019.9035023
2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids)
Keywords
DocType
Volume
high performance bipedal robot,viscoelastic liquid cooled actuators,liquid cooled viscoelastic actuators,robot design,actuator control,force control,position control,VLCA actuators,operational space control,reaction force sensing series elastic actuator,human-inspired kinematics,human-scaled biped robot,dynamic walking
Journal
abs/1906.03811
ISSN
ISBN
Citations 
2164-0572
978-1-5386-7631-8
0
PageRank 
References 
Authors
0.34
0
5
Name
Order
Citations
PageRank
Junhyeok Ahn123.42
Kim Donghyun245841.00
SeungHyeon Bang300.34
Nick Paine400.34
Luis Sentis557459.74