Experimental study on dynamic reactionless motions with DLR's humanoid robot Justin

The capabilities of DLR's multi-DOF humanoid robot Justin are extended with the help of a dynamic torque control component for base reaction minimization. Since the mobile base of the robot comprises springs, reactions induced by arm/torso motions lead to vibrations and deteriorate the performa...

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Bibliographic Details
Main Authors: Wimbock, T., Nenchev, D., Albu-Schaffer, A., Hirzinger, G.
Format: Conference Proceeding
Language:English
Subjects:
Control systems
Equations
Humanoid robots
Manipulators
Mobile robots
Motion control
PD control
Springs
Torque control
Torso
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Summary:The capabilities of DLR's multi-DOF humanoid robot Justin are extended with the help of a dynamic torque control component for base reaction minimization. Since the mobile base of the robot comprises springs, reactions induced by arm/torso motions lead to vibrations and deteriorate the performance. The control component is derived from the equation of motion of the robot, represented as an underactuated system, and partitioned into a ¿driven¿ subsystem (one of the arms), and a ¿compensating¿ subsystem (the other arm, with or w/o torso contribution). The control component is then embedded into the existing sophisticated controller structure of Justin, as a feedforward component, with additional control signals from an augmented PD feedback controller. It was possible to obtain satisfactory performance with a very ¿soft¿ compensatory subsystem. The experimental results confirmed the potential of this model-based approach for use in a complex multi-DOF system. As far as we know, this is the first time that a dynamic-coupling compensating controller is applied to a real system of such complexity, utilizing thereby a torque control interface.
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2009.5354528