Benchmarking Whole-Body Controllers on the TALOS Humanoid Robot

This article presents a comparison of three control schemes applied on the commercially available TALOS humanoid robot. The aim is to highlight the advantages and drawbacks of each model applied on three locomotion problems: walking on flat and non-flat terrain and climbing stairs. The different mod...

Full description

Saved in:
Bibliographic Details
Published in:Frontiers in robotics and AI 2022-03, Vol.9, p.826491-826491
Main Authors: Ramuzat, N, Stasse, O, Boria, S
Format: Article
Language:English
Subjects:
balance
benchmarking
Computer Science
humanoid robot
Robotics
Robotics and AI
torque control
whole body control
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This article presents a comparison of three control schemes applied on the commercially available TALOS humanoid robot. The aim is to highlight the advantages and drawbacks of each model applied on three locomotion problems: walking on flat and non-flat terrain and climbing stairs. The different models are based on position control (first and second models) or torque control (third model). The first one uses a hierarchical quadratic program at velocity level. The second one uses a weighted quadratic program named Task Space Inverse Dynamic (TSID) at acceleration level. Finally, the last one also uses TSID but at torque level. The controller performances are compared in simulation, using Gazebo, on the accuracy of their tracking, their energy consumption, and their computational time execution.
ISSN:2296-9144
2296-9144
DOI:10.3389/frobt.2022.826491