期刊
IEEE-ASME TRANSACTIONS ON MECHATRONICS
卷 22, 期 2, 页码 623-634出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2016.2628870
关键词
Biped balance; compliance; force control; humanoid platform; passivity; servovalve; squat
类别
资金
- Ministry of Education, Culture, Sports, Science and Technology [26280098]
- Grants-in-Aid for Scientific Research [26280098] Funding Source: KAKEN
This paper reports the design and control of a fast torque-controlled hydraulic humanoid robot, TaeMu. The robot has 15 active joints that are all driven by hydraulic servocylinders with an external hydraulic power supply. The 1377-mm tall robot has a three-axis active torso used for static and dynamic balancing. It weighs 72.3 kg including a dummy weight stand for the arms. Its lightweight design with carbon-fiber-reinforced plastic allows the legs to have a similar mass distribution to that of human legs. We present the details of the hardware design including the hydraulic actuator selection, mechanism, and control systems, as well as the passivity-based controller design for joint torque control and whole-body motion control. We present experimentally obtained results, such as speed testing, basic torque control testing, full-body compliant balancing with attitude regulation/tracking, and balanced full-squat motions. The experimentally obtained results and estimated joint specification imply the high potential of the robot to perform human-like motions if the researchers can invent proper control algorithms.
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