An EtherCAT-Based Real-Time Control System Architecture for Humanoid Robots
An EtherCAT-Based Real-Time Control System Architecture for Humanoid Robots
复制标题
基于 EtherCAT 的仿人机器人实时控制系统架构
DOI：
10.1109/coase.2018.8560532
复制
发表时间：
2018
期刊：
影响因子：
--
通讯作者：
D. Rixen
中科院分区：
文献类型：
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作者：
Felix Sygulla;Robert Wittmann;Philipp Seiwald;Tobias F. C. Berninger;Arne;Daniel Wahrmann;D. Rixen
人形机器人的设计自然需要同时控制大量的关节。此外，整个机器人的性能很大程度上取决于低级控制系统，因为所有高级软件（例如运动规划和控制是建立在其之上的。为了实现联合控制的高更新率和高带宽，需要先进的实时控制系统架构。然而，当今的人形机器人仍然使用过时的通信协议以及可实现的更新速率的相关限制。而且，低层控制系统的性能没有进行详细分析，或者系统依赖于专用硬件，缺乏可靠性和持久性。我们提出了一种基于 ETHERCAT 技术的可靠且高性能的人形机器人控制系统架构。据作者所知，这是唯一一个以超过 2 khz 的控制速率和低于 1 ms 的输入/输出延迟运行的系统。我们的控制架构包括基于学习的前馈控制策略，以提高联合跟踪性能。改进的关节控制方法和通信系统在我们的人形机器人 LOLA 上进行了评估。我们的软件框架可在线获取，以便其他研究人员从我们的经验中受益。
The design of humanoid robots naturally requires the simultaneous control of a high number of joints. Moreover, the performance of the overall robot is strongly determined by the low-level control system as all high-level software e.g. for locomotion planning and control is built on top of it. In order to achieve high update rates and high bandwidth for the joint control, an advanced real-time control system architecture is required. However, outdated communication protocols with associated limits in the achievable update rates are still used in nowadays humanoid robots. Moreover, the performance of the low-level control systems is not analyzed in detail or the systems rely on specialized hardware, which lacks reliability and persistence. We present a reliable and high-performance control system architecture for humanoid robots based on the ETHERCAT technology. To the authors' knowledge this is the only system, which operates at control rates beyond 2 khz and input/output latencies below 1 ms. Our control architecture includes a learning-based feedforward control strategy to improve joint tracking performance. The improved joint control method and the communication system are evaluated on our humanoid robot LOLA. Our software framework is available online to allow other researchers to benefit from our experiences.
双足快速行走实验
DOI：
10.1109/icmech.2011.5971235
发表时间：
2011
期刊：
2011 IEEE International Conference on Mechatronics
影响因子：
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作者：
T. Buschmann u. a.
通讯作者：
T. Buschmann u. a.