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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
Abstract
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 | ||||||
| Authors: |
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| Date: | July 2011 | ||||||
| Journal or Publication Title: | Extended abstracts - Dynamic Walking 2011 | ||||||
| Refereed publication: | Yes | ||||||
| In ISI Web of Science: | No | ||||||
| Status: | Published | ||||||
| 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: | Raumfahrt | ||||||
| HGF - Program Themes: | R SY - Technik für Raumfahrtsysteme | ||||||
| DLR - Research area: | Raumfahrt | ||||||
| DLR - Program: | R SY - Technik für Raumfahrtsysteme | ||||||
| DLR - Research theme (Project): | R - RMC - Kognitive Intelligenz und Autonomie | ||||||
| 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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