Automatic gain tuning of a momentum based balancing controller for humanoid robots

Ferigo

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

2018

Self Cite

A common architecture for torque controlled humanoid robots consists in two nested loops. The outer loop generates desired joint/motor torques, and the inner loop stabilizes these desired values. In doing so, the inner loop usually compensates for joint friction phenomena, thus removing their inherent stabilizing property that may be also beneficial for high level control objectives. This paper shows how to exploit friction for joint and task space control of humanoid robots. Experiments are carried out on the humanoid robot iCub.

Section: Control With No Friction Exploitationmentioning

confidence: 99%

Exploiting Friction in Torque Controlled Humanoid Robots

Ferigo

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

2018

Self Cite

“…(17) are always satisfied for any (reasonable) value of f s , it means that the seesaw dynamics can be stabilized by controlling, for example, the seesaw angular momentum dynamics along the lateral direction, and this can be done by using the feet wrenches as a fictitious control input of Eq. (20). Hence, one may think of controlling the whole system dynamics by means of the following control objectives:…”

Section: While the Matrix Multiplying The Feet Forces And Moments Is mentioning

confidence: 99%

“…By substituting the state accelerations from Eq. (18a)- (20) into Eq. (18c), and writing explicitly the control torques one has:…”

Section: While the Matrix Multiplying The Feet Forces And Moments Is mentioning

confidence: 99%

Modeling and control of humanoid robots in dynamic environments: ICub balancing on a seesaw

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)

Guedelha

et al. 2017

Self Cite

Forthcoming applications concerning humanoid robots may involve physical interaction between the robot and a dynamic environment. In such scenario, classical balancing and walking controllers that neglect the environment dynamics may not be sufficient for achieving a stable robot behavior. This paper presents a modeling and control framework for balancing humanoid robots in contact with a dynamic environment. We first model the robot and environment dynamics, together with the contact constraints. Then, a control strategy for stabilizing the full system is proposed. Theoretical results are verified in simulation with robot iCub balancing on a seesaw.

“…We recall here the momentum-based control strategy implemented on the iCub humanoid robot [16], [20], [21]. The control objective is the stabilization of a desired robot momentum and the stability of the associated zero dynamics.…”

Section: Balancing Control With Robot Rigid Transmissionsmentioning

confidence: 99%

Momentum control of humanoid robots with series elastic actuators

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Nori

2017

Self Cite

Humanoid robots may require a degree of compliance at the joint level for improving efficiency, shock tolerance, and safe interaction with humans. The presence of joint elasticity, however, complexifies the design of balancing and walking controllers. This paper proposes a control framework for extending momentum based controllers developed for stiff actuators to the case of series elastic actuators. The key point is to consider the motor velocities as an intermediate control input, and then apply high-gain control to stabilise the desired motor velocities achieving momentum control. Simulations carried out on a model of the robot iCub verify the soundness of the proposed approach.