Experiments with Balancing on Irregular Terrains using the Dreamer Mobile Humanoid Robot

Sentis, Luis; Petersen, Joshua G.; Philippsen, Roland

doi:10.15607/rss.2012.viii.050

Cited by 7 publications

(3 citation statements)

References 24 publications

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“…Actuator location refers to whether the actuator was located at the joint (local) or remotely (remote). Note: There are also rotary SEAs in humanoid robot Dreamer [41] and Robonaut II [42]; however, specifications have not been published for these SEAs. Regardless those are not suitable for small-scale applications.…”

Section: -2 / Vol 9 June 2017mentioning

confidence: 99%

Series Elastic Actuators for Small-Scale Robotic Applications

Agarwal

Deshpande

2017

Journal of Mechanisms and Robotics

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Torque control of small-scale robotic devices such as hand exoskeletons is challenging due to the unavailability of miniature and compact bidirectional torque actuators. In this work, we present a miniature Bowden-cable-based series elastic actuator (SEA) using helical torsion springs. The three-dimensional (3D) printed SEA is 38 mm × 38 mm × 24 mm in dimension and weighs 30 g, excluding motor which is located remotely. We carry out a thorough experimental testing of our previously presented linear compression spring SEA (LC-SEA) (Agarwal et al. 2015, “An Index Finger Exoskeleton With Series Elastic Actuation for Rehabilitation: Design, Control and Performance Characterization,” Int. J. Rob. Res., 34(14), pp. 1747–1772) and helical torsion spring SEA (HT-SEA) and compare the performance of the two designs. Performance characterization on a test rig shows that the two SEAs have adequate torque source quality (RMSE < 12% of peak torque) with high torque fidelities (>97% at 0.5 Hz torque sinusoid) and force tracking bandwidths of 2.5 Hz and 4.5 Hz (0.2 N·m), respectively, which make these SEAs suitable for our application of a hand exoskeleton.

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Section: -2 / Vol 9 June 2017mentioning

confidence: 99%

Series Elastic Actuators for Small-Scale Robotic Applications

Agarwal

Deshpande

2017

Journal of Mechanisms and Robotics

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“…This study uses the most recent. We began designing mobile bases to provide omnidirectional rough terrain mobility to humanoid robot upper bodies [22]. The newest iteration of our platform, produced in [12], replaced the previous drivetrain with a compact design that minimized backlash by using belts and pulleys.…”

Section: Hardware Setupmentioning

confidence: 99%

Full-body collision detection and reaction with omnidirectional mobile platforms: a step towards safe human–robot interaction

2015

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In this paper, we develop estimation and control methods for quickly reacting to collisions between omnidirectional mobile platforms and their environment. To enable the full-body detection of external forces, we use torque sensors located in the robot's drivetrain. Using model based techniques we estimate, with good precision, the location, direction, and magnitude of collision forces, and we develop an admittance controller that achieves a low effective mass in reaction to them. For experimental testing, we use a facility containing a calibrated collision dummy and our holonomic mobile platform. We subsequently explore collisions with the dummy colliding against a stationary base and the base colliding against a stationary dummy. Overall, we accomplish fast reaction times and a reduction of impact forces. A proof of concept experiment presents various parts of the mobile platform, including the wheels, colliding safely with humans.

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“…Compared to wheeled robots, the double-wheel robot has many benefits [12]. Compared to stable wheeled robots, they are hard to control; however, compared to legged robots they are simple to control [13][14][15][16]. It also computes the orientation and position of the robot manipulator's end effector which is related to the manipulator base as a function of joint variable [17].…”

Section: Introductionmentioning

confidence: 99%

Speed Control of Wheeled Mobile Robot by Nature-Inspired Social Spider Algorithm-Based PID Controller

et al. 2023

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Mobile robot is an automatic vehicle with wheels that can be moved automatically from one place to another. A motor is built in its wheels for mobility purposes, which is controlled using a controller. DC motor speed is controlled by the proportional integral derivative (PID) controller. Kinematic modeling is used in our work to understand the mechanical behavior of robots for designing the appropriate mobile robots. Right and left wheel velocity and direction are calculated by using the kinematic modeling, and the kinematic modeling is given to the PID controller to gain the output. Motor speed is controlled by the PID low-level controller for the robot mobility; the speed controlling is done using the constant values Kd, Kp, and Ki which depend on the past, future, and present errors. For better control performance, the integral gain, differential gain, and proportional gain are adjusted by the PID controller. Robot speed may vary by changing the direction of the vehicle, so to avoid this the Social Spider Optimization (SSO) algorithm is used in PID controllers. PID controller parameter tuning is hard by using separate algorithms, so the parameters are tuned by the SSO algorithm which is a novel nature-inspired algorithm. The main goal of this paper is to demonstrate the effectiveness of the proposed approach in achieving precise speed control of the robot, particularly in the presence of disturbances and uncertainties.

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Experiments with Balancing on Irregular Terrains using the Dreamer Mobile Humanoid Robot

Cited by 7 publications

References 24 publications

Series Elastic Actuators for Small-Scale Robotic Applications

Series Elastic Actuators for Small-Scale Robotic Applications

Full-body collision detection and reaction with omnidirectional mobile platforms: a step towards safe human–robot interaction

Speed Control of Wheeled Mobile Robot by Nature-Inspired Social Spider Algorithm-Based PID Controller

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