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Torque and Force Controllers for a Biped Robot

Ott, Christian and Roa, Maximo A. (2011) Torque and Force Controllers for a Biped Robot. In: Extended abstracts - Dynamic Walking 2011. Dynamic Walking, 18-21 July 2011, Jena, Germany.

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Official URL: http://www.dynamicwalking.uni-jena.de/sites/default/files/DynamicWalking2011_ExtendedAbstracts.pdf


In this work we provide a comparison between admittance controllers based on force sensors in the feet and impedance controllers based on joint torque sensors. We start by analyzing to which extend the findings from robot manipulation apply also to biped robots, in which the interaction between the robot and the environment as well as the respective sensing occurs at the robots support. In this context, the role of a free-floating base link in biped robots as compared to the fixed support in manipulator control is analyzed using simple dynamical models. The comparison is supported by several experiments, both in simulation and on a real robot. The chosen task is the balance of a biped robot in presence of external perturbations in different directions. The simulations are based on OpenHRP3 and experimental results were obtained with the DLR biped.

Document Type:Conference or Workshop Item (Lecture)
Title:Torque and Force Controllers for a Biped Robot
AuthorsInstitution or Email of Authors
Ott, Christianchristian.ott@dlr.de
Roa, Maximo A.maximo.roa@dlr.de
Date:July 2011
Journal or Publication Title:Extended abstracts - Dynamic Walking 2011
Refereed publication:Yes
In ISI Web of Science:No
Keywords:Balancing robot, biped robot, torque control
Event Title:Dynamic Walking
Event Location:Jena, Germany
Event Type:international Conference
Event Dates:18-21 July 2011
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - RMC - Kognitive Intelligenz und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics
Deposited By: Maximo Alejandro Roa Garzon
Deposited On:20 Jan 2012 13:25
Last Modified:24 Feb 2012 10:54

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