Natural admittance control of an electro-hydraulic humanoid robot

Compliant-motion control implementation on a humanoid robot with electrohydraulic joints is presented. Characterization results are shown, leading to a dynamic model used in feedback. A Natural Admittance Controller is designed, and its performance is demonstrated in demanding manipulation tasks, including dual-arm palmar manipulation of an egg and dual-arm valve turning.

[1]  W. S. Newman,et al.  Automated force controlled assembly utilizing a novel hexapod robotic manipulator , 2002, Proceedings of the 5th Biannual World Automation Congress.

[2]  Wyatt S. Newman,et al.  Process Control for Robotic Surface Finishing , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[3]  Wyatt S. Newman,et al.  The passivity of natural admittance control implementations , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[4]  Nariman Sepehri,et al.  Stable control of an electro-hydraulic actuator during contact tasks: Theory and experiments , 2000, Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334).

[5]  Rui Liu,et al.  A simplified approach to force control for electro-hydraulic systems☆ , 2000 .

[6]  Max Donath,et al.  Dynamic feedback linearization for electrohydraulically actuated control systems , 1995 .

[7]  Christopher G. Atkeson,et al.  Compliant control of a hydraulic humanoid joint , 2007, 2007 7th IEEE-RAS International Conference on Humanoid Robots.

[8]  W. S. Newman Stability and Performance Limits of Interaction Controllers , 1992 .

[9]  N. Sepehri,et al.  Designing robust force control of hydraulic actuators despite system and environmental uncertainties , 2001 .

[10]  John Kenneth Salisbury,et al.  Mechatronic design of an integrated robotic hand , 2014, Int. J. Robotics Res..

[11]  Septimiu E. Salcudean,et al.  Nonlinear control of hydraulic robots , 2001, IEEE Trans. Robotics Autom..

[12]  James E. Bobrow,et al.  Experiments and simulations on the nonlinear control of a hydraulic servosystem , 1999, IEEE Trans. Control. Syst. Technol..

[13]  Wyatt S. Newman,et al.  The implementation of a natural admittance controller on an industrial manipulator , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.