Modeling, identification and joint impedance control of the atlas arms

Publikation: Sonstige PublikationForschungPeer-Review

Autoren

  • Moritz Schappler
  • Jonathan Vorndamme
  • Alexander Tödtheide
  • David C. Conner
  • Oskar von Stryk
  • Sami Haddadin
Forschungs-netzwerk anzeigen

Details

OriginalspracheEnglisch
Seitenumfang8
ISBN (elektronisch)9781479968855
PublikationsstatusVeröffentlicht - Nov. 2015

Publikationsreihe

NameIEEE-RAS International Conference on Humanoid Robots
Band2015-December
ISSN (Print)2164-0572
ISSN (elektronisch)2164-0580

Abstract

Compliant manipulation has become central to robots that are sought to safely act in and interact with unstructured as well as only partially known environments. In this paper we equip the hydraulically actuated, usually position controlled arms of the Atlas robot with model-based joint impedance control, including suitable damping design, and experimentally verify the proposed algorithm. Our approach, which originates from the advances in soft-robotics control, relies on high-performance low-level joint torque control. This makes it independent from the actual technology being hydraulic or electromechanical. This paper describes the approach to accurately model the dynamics, and design the optimal excitation trajectory for system identification to enable the specification of model-based feed-forward controls. In conclusion, the implemented controller enables the robot arm to execute significantly smoother motions, be compliant against external forces, and have similar tracking performance as compared to the existing position control scheme. Finally, unknown modeling inaccuracies and contact forces are accurately estimated by a suitable disturbance observer, which could be used in the future to further enhance our controller's performance.

ASJC Scopus Sachgebiete

Zitieren

Modeling, identification and joint impedance control of the atlas arms. / Schappler, Moritz; Vorndamme, Jonathan; Tödtheide, Alexander et al.
8 S. 2015. (IEEE-RAS International Conference on Humanoid Robots; Band 2015-December).

Publikation: Sonstige PublikationForschungPeer-Review

Schappler, M., Vorndamme, J., Tödtheide, A., Conner, D. C., Stryk, O. V., & Haddadin, S. (2015, Nov). Modeling, identification and joint impedance control of the atlas arms. https://doi.org/10.1109/humanoids.2015.7363499
Schappler M, Vorndamme J, Tödtheide A, Conner DC, Stryk OV, Haddadin S. Modeling, identification and joint impedance control of the atlas arms. 2015. 8 S. doi: 10.1109/humanoids.2015.7363499
Schappler, Moritz ; Vorndamme, Jonathan ; Tödtheide, Alexander et al. / Modeling, identification and joint impedance control of the atlas arms. 2015. 8 S. (IEEE-RAS International Conference on Humanoid Robots).
Download
@misc{e0267783c8524440a4adcccf7a8f287f,
title = "Modeling, identification and joint impedance control of the atlas arms",
abstract = "Compliant manipulation has become central to robots that are sought to safely act in and interact with unstructured as well as only partially known environments. In this paper we equip the hydraulically actuated, usually position controlled arms of the Atlas robot with model-based joint impedance control, including suitable damping design, and experimentally verify the proposed algorithm. Our approach, which originates from the advances in soft-robotics control, relies on high-performance low-level joint torque control. This makes it independent from the actual technology being hydraulic or electromechanical. This paper describes the approach to accurately model the dynamics, and design the optimal excitation trajectory for system identification to enable the specification of model-based feed-forward controls. In conclusion, the implemented controller enables the robot arm to execute significantly smoother motions, be compliant against external forces, and have similar tracking performance as compared to the existing position control scheme. Finally, unknown modeling inaccuracies and contact forces are accurately estimated by a suitable disturbance observer, which could be used in the future to further enhance our controller's performance.",
keywords = "Damping, Friction, Impedance, Robots, Torque, Torque control, Trajectory",
author = "Moritz Schappler and Jonathan Vorndamme and Alexander T{\"o}dtheide and Conner, {David C.} and Stryk, {Oskar von} and Sami Haddadin",
note = "Funding information: ACKNOWLEDGMENT The authors would like to thank the other members of Team ViGIR for supporting the robot experiments. This work was supported in part by the Defense Advanced Research Projects Agency (DARPA) under Air Force Research Laboratory (AFRL) contract FA8750-12-C-0337.",
year = "2015",
month = nov,
doi = "10.1109/humanoids.2015.7363499",
language = "English",
series = "IEEE-RAS International Conference on Humanoid Robots",
type = "Other",

}

Download

TY - GEN

T1 - Modeling, identification and joint impedance control of the atlas arms

AU - Schappler, Moritz

AU - Vorndamme, Jonathan

AU - Tödtheide, Alexander

AU - Conner, David C.

AU - Stryk, Oskar von

AU - Haddadin, Sami

N1 - Funding information: ACKNOWLEDGMENT The authors would like to thank the other members of Team ViGIR for supporting the robot experiments. This work was supported in part by the Defense Advanced Research Projects Agency (DARPA) under Air Force Research Laboratory (AFRL) contract FA8750-12-C-0337.

PY - 2015/11

Y1 - 2015/11

N2 - Compliant manipulation has become central to robots that are sought to safely act in and interact with unstructured as well as only partially known environments. In this paper we equip the hydraulically actuated, usually position controlled arms of the Atlas robot with model-based joint impedance control, including suitable damping design, and experimentally verify the proposed algorithm. Our approach, which originates from the advances in soft-robotics control, relies on high-performance low-level joint torque control. This makes it independent from the actual technology being hydraulic or electromechanical. This paper describes the approach to accurately model the dynamics, and design the optimal excitation trajectory for system identification to enable the specification of model-based feed-forward controls. In conclusion, the implemented controller enables the robot arm to execute significantly smoother motions, be compliant against external forces, and have similar tracking performance as compared to the existing position control scheme. Finally, unknown modeling inaccuracies and contact forces are accurately estimated by a suitable disturbance observer, which could be used in the future to further enhance our controller's performance.

AB - Compliant manipulation has become central to robots that are sought to safely act in and interact with unstructured as well as only partially known environments. In this paper we equip the hydraulically actuated, usually position controlled arms of the Atlas robot with model-based joint impedance control, including suitable damping design, and experimentally verify the proposed algorithm. Our approach, which originates from the advances in soft-robotics control, relies on high-performance low-level joint torque control. This makes it independent from the actual technology being hydraulic or electromechanical. This paper describes the approach to accurately model the dynamics, and design the optimal excitation trajectory for system identification to enable the specification of model-based feed-forward controls. In conclusion, the implemented controller enables the robot arm to execute significantly smoother motions, be compliant against external forces, and have similar tracking performance as compared to the existing position control scheme. Finally, unknown modeling inaccuracies and contact forces are accurately estimated by a suitable disturbance observer, which could be used in the future to further enhance our controller's performance.

KW - Damping

KW - Friction

KW - Impedance

KW - Robots

KW - Torque

KW - Torque control

KW - Trajectory

UR - http://www.scopus.com/inward/record.url?scp=84962244267&partnerID=8YFLogxK

U2 - 10.1109/humanoids.2015.7363499

DO - 10.1109/humanoids.2015.7363499

M3 - Other publication

T3 - IEEE-RAS International Conference on Humanoid Robots

ER -

Von denselben Autoren