Whole-Body Control and Estimation of Humanoid Robots with Link Flexibility - Archive ouverte HAL Access content directly
Conference Papers Year :

Whole-Body Control and Estimation of Humanoid Robots with Link Flexibility

(1) , (2) , (1) , (1, 3) , (2)
1
2
3

Abstract

This article presents a whole-body controller for humanoid robots affected by concentrated link flexibility. We characterize the link flexibility by introducing passive joints at the concentration of deflections, which separate the flexible links into two or more rigid bodies. In this way, we extend our robot model to take link deflections into account as underactuated extra degrees of freedom, allowing us to design a whole-body controller capable to anticipate deformations. Since in a real scenario, the deflection is not directly measurable, we present an observer aiming at estimating the flexible joint state, namely position, velocity, and torque, only considering the measured contact force and the state of actuated joint. We validate the overall approach in simulations with the humanoid robot TALOS, whose hip is mechanically flexible due to a localized mechanical weakness. Furthermore, the paper compares the proposed wholebody control strategy with state-of-the-art approaches. Finally, we analyze the performance of the estimator in the case of different values of hip elasticity.
Fichier principal
Vignette du fichier
Romualdi_talos_flex_humanoids_2022.pdf (8.97 Mo) Télécharger le fichier
Origin : Files produced by the author(s)

Dates and versions

hal-03866027 , version 1 (22-11-2022)

Identifiers

  • HAL Id : hal-03866027 , version 1

Cite

Giulio Romualdi, Nahuel Alejandro Villa, Stefano Dafarra, Daniele Pucci, Olivier Stasse. Whole-Body Control and Estimation of Humanoid Robots with Link Flexibility. IEEE-RAS International Conference on Humanoid Robots (Humanoids 2022), IEEE, Nov 2022, Ginowan, Okinawa, Japan. ⟨hal-03866027⟩
0 View
0 Download

Share

Gmail Facebook Twitter LinkedIn More