NDLI: Experimental study on dynamic reactionless motions with DLR's humanoid robot Justin

Content Provider	IEEE Xplore Digital Library
Author	Wimbock, T. Nenchev, D. Albu-Schaffer, A. Hirzinger, G.
Copyright Year	2009
Description	Author affiliation: DLR - German Aerospace Center, Institute of Robotics and Mechatronics, P.O. Box 1116, D-82230 Wessling, Germany (Wimbock, T.; Albu-Schaffer, A.; Hirzinger, G.) \|\| Department of Mechanical Systems Engineering, Tokyo City University, Tamazutsumi 1-28-1, Setagaya-ku, Tokyo 158-8557, Japan (Nenchev, D.)
Abstract	The capabilities of DLR's multi-DOF humanoid robot Justin are extended with the help of a dynamic torque control component for base reaction minimization. Since the mobile base of the robot comprises springs, reactions induced by arm/torso motions lead to vibrations and deteriorate the performance. The control component is derived from the equation of motion of the robot, represented as an underactuated system, and partitioned into a “driven” subsystem (one of the arms), and a “compensating” subsystem (the other arm, with or w/o torso contribution). The control component is then embedded into the existing sophisticated controller structure of Justin, as a feedforward component, with additional control signals from an augmented PD feedback controller. It was possible to obtain satisfactory performance with a very “soft” compensatory subsystem. The experimental results confirmed the potential of this model-based approach for use in a complex multi-DOF system. As far as we know, this is the first time that a dynamic-coupling compensating controller is applied to a real system of such complexity, utilizing thereby a torque control interface.
Starting Page	5481
Ending Page	5486
File Size	764370
Page Count	6
File Format	PDF
ISBN	9781424438037
DOI	10.1109/IROS.2009.5354528
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-10-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Humanoid robots Torque control Torso Control systems Mobile robots Springs Motion control Equations Manipulators PD control
Content Type	Text
Resource Type	Article

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