Design of the Humanoid Robot TOCABI

Schwartz, Mathew; Sim, Jaehoon; Ahn, Junewhee; Hwang, Sung Hwan; Lee, Yisoo; Park, Jaeheung

doi:10.1109/humanoids53995.2022.10000102

Cited by 11 publications

(2 citation statements)

References 27 publications

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“…The TOCABI [17] was designed to reflect the height of an adult male, whose weight and height are 100 Kg and 1.8 m, respectively. TOCABI is shown in Fig.…”

Section: System Overview a Hardware Overviewmentioning

confidence: 99%

Dual-Channel EtherCAT Control System for 33-DOF Humanoid Robot TOCABI

et al. 2023

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Multi-axis actuation robotics systems comprising many joints with a floating base require more stability and safety than fixed robots and thus require more considerations. In this paper, we describe the implementation of a real-time EtherCAT control system for the TOCABI humanoid robot with 33 degrees of freedom (DOFs) is described. The focus is on the development of a high-performing EtherCAT MainDevice, which enables control of the robot's high DOF at fast communication cycles. We also explore the use of a dual-channel EtherCAT MainDevice as a redundancy mechanism to handle communication disruptions and show that this configuration reduces the burden on the communication network and increases the communication cycle, leading to good real-time performance. To demonstrate the advantages of the system, we examine the performance of the EtherCAT communication and evaluate the impact of RTnet on realtime performance, demonstrating that a high-performing EtherCAT MainDevice having hard real-time capabilities can be established using open-source software. The results of this work demonstrate the potential of using dual channels in EtherCAT MainDevice configurations and utilizing open-source software to implement low-cost EtherCAT MainDevice systems. The paper's contribution to the field is its indication of developing stable robot systems with high DOF, which require hard real-time capability, even with opensource software.INDEX TERMS Framework, humanoid robot, real-time, robot control system.

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“…The TOCABI [17] was designed to reflect the height of an adult male, whose weight and height are 100 Kg and 1.8 m, respectively. TOCABI is shown in Fig.…”

Section: System Overview a Hardware Overviewmentioning

confidence: 99%

Dual-Channel EtherCAT Control System for 33-DOF Humanoid Robot TOCABI

et al. 2023

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“…Two robotic platforms, a 14-DoFs dual-arm manipulator shown in Fig. 5 and a 33-DoFs humanoid robot TOCABI [46] shown in Fig. 6 are utilized for the experiments.…”

Section: ) Robot Setupmentioning

confidence: 99%

Neural Network-Based Joint Velocity Estimation Method for Improving Robot Control Performance

Kim,

Hwang,

Lim

et al. 2023

IEEE Access

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Joint velocity estimation is one of the essential properties that implement for accurate robot motion control. Although conventional approaches such as numerical differentiation of position measurements and model-based observers exhibit feasible performance for velocity estimation, instability can be occurred because of phase lag or model inaccuracy. This study proposes a model-free approach that can estimate the velocity with less phase lag by batch training of a neural network with pre-collected encoder measurements. By learning a weighted moving average, the proposed method successfully estimates the velocity with less latency imposed by the noise attenuation compared to the conventional methods. Practical experiments with two robot platforms with high degrees of freedom are conducted to validate the effectiveness of the proposed method.

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