Control of a High Performance Bipedal Robot using Viscoelastic Liquid Cooled Actuators
Control of a High Performance Bipedal Robot using Viscoelastic Liquid Cooled Actuators
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DOI：
10.1109/humanoids43949.2019.9035023
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发表时间：
2019-06
期刊：
影响因子：
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通讯作者：
Junhyeok Ahn;Donghyun Kim;S. Bang;N. Paine;L. Sentis
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文献类型：
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作者：
Junhyeok Ahn;Donghyun Kim;S. Bang;N. Paine;L. Sentis
本文介绍了一种新的人类规模的机器人与液体冷却粘弹性驱动器（VLCA）的控制和评估。基于从我们的VLCA团队以前的工作中吸取的经验教训，我们提出了一个新的系统设计，体现了反作用力传感系列弹性执行器和力传感系列弹性执行器。这些设计旨在减少机器人驱动系统的尺寸和重量，同时继承我们设计的优点，如能源效率，扭矩密度，耐冲击性和位置/力可控性。机器人的设计考虑了人类启发的运动学和运动范围，同时依靠脚的位置来平衡。在执行器控制方面，我们进行了稳定性分析的干扰观测器设计的力控制。然后，我们评估各种位置控制算法在时域和频域为我们的VLCA致动器。建立低水平基线后，我们首先使用操作空间控制对腿进行控制器评估。最后，我们继续评估完成无支撑动态行走的完整双足机器人。
This paper describes the control, and evaluation of a new human-scaled biped robot with liquid cooled viscoelastic actuators (VLCA). Based on the lessons learned from previous work from our team on VLCA, we present a new system design embodying a Reaction Force Sensing Series Elastic Actuator and a Force Sensing Series Elastic Actuator. These designs are aimed at reducing the size and weight of the robot's actuation system while inheriting the advantages of our designs such as energy efficiency, torque density, impact resistance and position/force controllability. The robot design takes into consideration human-inspired kinematics and range-of-motion, while relying on foot placement to balance. In terms of actuator control, we perform a stability analysis on a Disturbance Observer designed for force control. We then evaluate various position control algorithms both in the time and frequency domains for our VLCA actuators. Having the low level baseline established, we first perform a controller evaluation on the legs using Operational Space Control. Finally, we move on to evaluating the full bipedal robot by accomplishing unsupported dynamic walking.