Villa, Nahuel und Englsberger, Johannes und Wieber, Pierre-Brice (2019) Sensitivity of Legged Balance Control to Uncertainties and Sampling Period. IEEE Robotics and Automation Letters. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/lra.2019.2927944. ISSN 2377-3766.
PDF
- Verlagsversion (veröffentlichte Fassung)
1MB |
Kurzfassung
We propose to quantify the effect of sensor and actuator uncertainties on the control of the center of mass and center of pressure in legged robots, since this is central for maintaining their balance with a limited support polygon. Our approach is based on robust control theory, considering uncertainties that can take any value between specified bounds. This provides a principled approach to deciding optimal feedback gains. Surprisingly, our main observation is that the sampling period can be as long as 200 ms with literally no impact on maximum tracking error and, as a result, on the guarantee that balance can be maintained safely. Our findings are validated in simulations and experiments with the torquecontrolled humanoid robot Toro developed at DLR. The proposed mathematical derivations and results apply nevertheless equally to biped and quadruped robots.
elib-URL des Eintrags: | https://elib.dlr.de/134112/ | ||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||
Titel: | Sensitivity of Legged Balance Control to Uncertainties and Sampling Period | ||||||||||||||||
Autoren: |
| ||||||||||||||||
Datum: | 2019 | ||||||||||||||||
Erschienen in: | IEEE Robotics and Automation Letters | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Ja | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||
DOI: | 10.1109/lra.2019.2927944 | ||||||||||||||||
Verlag: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||
ISSN: | 2377-3766 | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | Legged robots, Balance control, Robust control, Sampling period, Bounded input bounded output | ||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Laufroboter/Lokomotion [SY] | ||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||
Hinterlegt von: | Englsberger, Dr.-Ing. Johannes | ||||||||||||||||
Hinterlegt am: | 28 Apr 2021 14:26 | ||||||||||||||||
Letzte Änderung: | 15 Jun 2023 08:51 |
Nur für Mitarbeiter des Archivs: Kontrollseite des Eintrags