Details
| Original language | English |
|---|---|
| Number of pages | 8 |
| ISBN (electronic) | 9781509037629 |
| Publication status | Published - Oct 2016 |
Abstract
Soft robotics methods such as impedance control and reflexive collision handling have proven to be a valuable tool to robots acting in partially unknown and potentially unstructured environments. Mainly, the schemes were developed with focus on classical electromechanically driven, torque controlled robots. There, joint friction, mostly coming from high gearing, is typically decoupled from link-side control via suitable rigid or elastic joint torque feedback. Extending and applying these algorithms to stiff hydraulically actuated robots poses problems regarding the strong influence of friction on joint torque estimation from pressure sensing, i.e. link-side friction is typically significantly higher than in electromechanical soft robots. In order to improve the performance of such systems, we apply state-of-the-art fault detection and estimation methods together with observer-based disturbance compensation control to the humanoid robot Atlas. With this it is possible to achieve higher tracking accuracy despite facing significant modeling errors. Compliant end-effector behavior can also be ensured by including an additional force/torque sensor into the generalized momentum-based disturbance observer algorithm from [1].
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
- Computer Science(all)
- Software
- Computer Science(all)
- Computer Vision and Pattern Recognition
- Computer Science(all)
- Computer Science Applications
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8 p. 2016.
Research output: Other contribution › Other publication › Research › peer review
}
TY - GEN
T1 - Soft robotics for the hydraulic atlas arms: Joint impedance control with collision detection and disturbance compensation
AU - Vorndamme, Jonathan
AU - Schappler, Moritz
AU - Todtheide, Alexander
AU - Haddadin, Sami
N1 - Publisher Copyright: © 2016 IEEE. Copyright: Copyright 2017 Elsevier B.V., All rights reserved.
PY - 2016/10
Y1 - 2016/10
N2 - Soft robotics methods such as impedance control and reflexive collision handling have proven to be a valuable tool to robots acting in partially unknown and potentially unstructured environments. Mainly, the schemes were developed with focus on classical electromechanically driven, torque controlled robots. There, joint friction, mostly coming from high gearing, is typically decoupled from link-side control via suitable rigid or elastic joint torque feedback. Extending and applying these algorithms to stiff hydraulically actuated robots poses problems regarding the strong influence of friction on joint torque estimation from pressure sensing, i.e. link-side friction is typically significantly higher than in electromechanical soft robots. In order to improve the performance of such systems, we apply state-of-the-art fault detection and estimation methods together with observer-based disturbance compensation control to the humanoid robot Atlas. With this it is possible to achieve higher tracking accuracy despite facing significant modeling errors. Compliant end-effector behavior can also be ensured by including an additional force/torque sensor into the generalized momentum-based disturbance observer algorithm from [1].
AB - Soft robotics methods such as impedance control and reflexive collision handling have proven to be a valuable tool to robots acting in partially unknown and potentially unstructured environments. Mainly, the schemes were developed with focus on classical electromechanically driven, torque controlled robots. There, joint friction, mostly coming from high gearing, is typically decoupled from link-side control via suitable rigid or elastic joint torque feedback. Extending and applying these algorithms to stiff hydraulically actuated robots poses problems regarding the strong influence of friction on joint torque estimation from pressure sensing, i.e. link-side friction is typically significantly higher than in electromechanical soft robots. In order to improve the performance of such systems, we apply state-of-the-art fault detection and estimation methods together with observer-based disturbance compensation control to the humanoid robot Atlas. With this it is possible to achieve higher tracking accuracy despite facing significant modeling errors. Compliant end-effector behavior can also be ensured by including an additional force/torque sensor into the generalized momentum-based disturbance observer algorithm from [1].
UR - http://www.scopus.com/inward/record.url?scp=85006335429&partnerID=8YFLogxK
U2 - 10.1109/iros.2016.7759517
DO - 10.1109/iros.2016.7759517
M3 - Other publication
ER -