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.
Item URL in elib: | https://elib.dlr.de/62653/ | ||||||||||||
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Document Type: | Conference or Workshop Item (Speech, Paper) | ||||||||||||
Title: | Experimental Study on Dynamic Reactionless Motions with DLR’s Humanoid Robot Justin | ||||||||||||
Authors: |
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Date: | 11 October 2009 | ||||||||||||
Journal or Publication Title: | Proceedings | ||||||||||||
Refereed publication: | Yes | ||||||||||||
Open Access: | Yes | ||||||||||||
Gold Open Access: | No | ||||||||||||
In SCOPUS: | No | ||||||||||||
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 (until 2012) > Robotic Systems | ||||||||||||
Deposited By: | Beinhofer, Gabriele | ||||||||||||
Deposited On: | 14 Jan 2010 17:02 | ||||||||||||
Last Modified: | 31 Jul 2019 19:26 |
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