Details
| Original language | English |
|---|---|
| Number of pages | 8 |
| ISBN (electronic) | 9781479968855 |
| Publication status | Published - Nov 2015 |
Publication series
| Name | IEEE-RAS International Conference on Humanoid Robots |
|---|---|
| Volume | 2015-December |
| ISSN (Print) | 2164-0572 |
| ISSN (electronic) | 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.
Keywords
- Damping, Friction, Impedance, Robots, Torque, Torque control, Trajectory
ASJC Scopus subject areas
- Computer Science(all)
- Artificial Intelligence
- Computer Science(all)
- Computer Vision and Pattern Recognition
- Computer Science(all)
- Hardware and Architecture
- Computer Science(all)
- Human-Computer Interaction
- Engineering(all)
- Electrical and Electronic Engineering
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8 p. 2015. (IEEE-RAS International Conference on Humanoid Robots; Vol. 2015-December).
Research output: Other contribution › Other publication › Research › peer review
}
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 -