Experimental Validation of Resolved Viscoelasticity Control on Hydrostatically Driven Humanoid Hydra

A backdrivable or force-controllable actuator is one of the key elements needed to develop a humanoid capable of interacting with humans. Recently, we developed the humanoid Hydra using electro hydrostatic actuators, which have high backdrivability and force sensitivity. Moreover, one of the authors proposed resolved viscoelasticity control (RVC) approach, which achieves robust balance control by transforming task-space viscoelasticity into joint viscoelasticity. However, the RVC was validated only through forward dynamics simulation. Therefore, in this study, experimental validation of the RVC method using Hydra was achieved. Further, robust standing balance control was realized in the experiments.

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