Improvement of humanoid walking control by compensating actuator elasticity

The actuators in humanoid robots inevitably have compliance in their joint mechanisms. The joint elasticity often negatively affects static and dynamic performance of the robot. In the specific case of humanoid walking, the elasticity in the actuators can create problems not only on the performance but also on the stability, which is most critical for walking. In this paper, the joint deformation is modeled and its compensation method is proposed to improve walking control performance and stability. The proposed algorithm is implemented on our humanoid robot and its performance is demonstrated by improved stability of walking.

[1]  P. Tomei.  A simple PD controller for robots with elastic joints , 1991 .

[2]  Alessandro De Luca,et al.  PD control with on-line gravity compensation for robots with elastic joints: Theory and experiments , 2005, Autom..

[3]  Gordon Cheng,et al.  Full-Body Compliant Human–Humanoid Interaction: Balancing in the Presence of Unknown External Forces , 2007, IEEE Transactions on Robotics.

[4]  Alin Albu-Schäffer,et al.  On the Passivity-Based Impedance Control of Flexible Joint Robots , 2008, IEEE Transactions on Robotics.

[5]  Jonathon W. Sensinger,et al.  Cycloid vs. harmonic drives for use in high ratio, single stage robotic transmissions , 2012, 2012 IEEE International Conference on Robotics and Automation.

[6]  Kazuhito Yokoi,et al.  Biped walking pattern generation by using preview control of zero-moment point , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[7]  Youngjin Choi,et al.  Posture/Walking Control for Humanoid Robot Based on Kinematic Resolution of CoM Jacobian With Embedded Motion , 2007, IEEE Transactions on Robotics.

[8]  Gordon Cheng,et al.  Disturbance Rejection for Biped Humanoids , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[9]  Twan Koolen,et al.  Team IHMC's Lessons Learned from the DARPA Robotics Challenge Trials , 2015, J. Field Robotics.

[10]  N. Oda,et al.  An approach of motion compensation for biped walking robots with structural deformation , 2008, 2008 10th IEEE International Workshop on Advanced Motion Control.

[11]  M. Vukobratovi.  Humanoid Robotics – Past , Present State , Future – , 2006 .

[12]  Kazuhito Yokoi,et al.  Balance control based on Capture Point error compensation for biped walking on uneven terrain , 2012, 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012).

[13]  Naoki Oda,et al.  Experimental evaluation of vision-based ZMP detection for biped walking robot , 2013, 2013 IEEE International Symposium on Industrial Electronics.

[14]  Soonwook Hwang,et al.  Approach of Team SNU to the DARPA Robotics Challenge finals , 2015, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids).

[15]  Erico Guizzo,et al.  The hard lessons of DARPA's robotics challenge [News] , 2015 .

[16]  E. Rigaud,et al.  Effect of Elasticity of Shafts, Bearings, Casing and Couplings on the Critical Rotational Speeds of a Gearbox , 2007, physics/0701038.

[17]  Kazuya Yoshida,et al.  Adaptive Reaction Control for Space Robotic Applications with Dynamic Model Uncertainty , 2010, Adv. Robotics.

[18]  Oussama Khatib,et al.  Contact consistent control framework for humanoid robots , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[19]  Rodolfo Faglia,et al.  Harmonic drive transmissions: the effects of their elasticity, clearance and irregularity on the dynamic behaviour of an actual SCARA robot , 1992, Robotica.