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Experimental Study on Dynamic Reactionless Motions with DLR’s Humanoid Robot Justin

Wimböck, Thomas and Albu-Schäffer, Alin and Hirzinger, Gerd (2009) Experimental Study on Dynamic Reactionless Motions with DLR’s Humanoid Robot Justin. In: Proceedings. IROS, International Conference on Intelligent Robots and Systems, 11. Okt. -15. Okt. 2009, St. Louis, USA.

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Abstract

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.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Experimental Study on Dynamic Reactionless Motions with DLR’s Humanoid Robot Justin
Authors:
AuthorsInstitution or Email of Authors
Wimböck, ThomasThomas.Wimboeck@dlr.de
Albu-Schäffer, AlinAlin.Albu-Schaeffer@dlr.de
Hirzinger, GerdGerd.Hirzinger@dlr.de
Date:11 October 2009
Journal or Publication Title:Proceedings
Refereed publication:Yes
In ISI Web of Science:No
Status:Published
Keywords:Humanoid Robot
Event Title:IROS, International Conference on Intelligent Robots and Systems
Event Location:St. Louis, USA
Event Type:international Conference
Event Dates:11. Okt. -15. Okt. 2009
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Mechatronik und Dynamik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Gabriele Beinhofer
Deposited On:14 Jan 2010 17:02
Last Modified:12 Dec 2013 20:52

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