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Passivation of a Hierarchical Whole-Body Controller for Humanoid Robots

Wu, Xuwei (2016) Passivation of a Hierarchical Whole-Body Controller for Humanoid Robots. Master's. DLR-Interner Bericht. DLR-IB-RM-OP-2016-245, 67 S.

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Humanoid robots for households and service robotic applications are essentially required to be capable of performing multiple tasks in unstructured, unpredictable environments where the robots share their workspace with humans. In this context, guaranteeing a safe and stable interactive behavior during task execution is of paramount importance for these humanoid robots. For the regulation case, by the use of torque control methods that take the active control of the interactive behavior into account such as compliance control, the passivity of the robot with respect to its connected environment is ensured, which is a necessary condition for a stable interaction between the robot and any passive environment. The state-of-the-art multi-objective compliance controller, that is able to implement a strict hierarchy with an arbitrary number of task levels, applies compliance controllers on individual levels for task execution. However, the null space projections used to achieve task hierarchies inevitably destroy the passivity property of the original compliance controller. In this thesis, the source of activity of the classical controller as well as the decoupled closed-loop system are analyzed. Based on the knowledge of the clarified source of activity, an energy-tank passivation method for the classical controller with a two-level task hierarchy is extended to the case of a task hierarchy with an arbitrary number of task levels. Two variations of the energy-tank passivation approaches are presented: the local-energy-tank approach and the global-energy-tank approach. Formal proofs of passivity of the overall system with both approaches are provided. Proofs of additional approach-specific passivity properties are also given. Simulations with a planar manipulator and experiments with the humanoid robot Rollin’ Justin of the DLR validate the theoretical results.

Item URL in elib:https://elib.dlr.de/107286/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:Passivation of a Hierarchical Whole-Body Controller for Humanoid Robots
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Wu, Xuweixuwei.wu (at) tum.deUNSPECIFIED
Date:September 2016
Refereed publication:No
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Number of Pages:67
Keywords:Humanoid Robot, Control, Whole-Body, Passivation, Safety
Institution:Technische Universität München
Department:Fakultät für Maschinenwesen
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Terrestrial Assistance Robotics
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Dietrich, Dr.-Ing. Alexander
Deposited On:04 Nov 2016 13:42
Last Modified:04 Nov 2016 13:42

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