Advanced steps in biped robotics: Innovative design and intuitive control through spring-damper actuator

Umberto Scarfogliero, Michele Folgheraiter, Giuseppina Gini

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Citations (Scopus)

Abstract

This paper focuses on the study and design of an anthropomorphical light biped robot. The robot presents a total of twelve degree of freedom that permit it to perform a walk in a three dimensional space. Each joint resemble the functionalities of the human articulation and is moved by tendons connected with actuators located in the robot's pelvis. We implemented and tested an innovative actuator that permits to set the joint stiffness in real time maintaining a simple position control paradigm. The controller is able to estimate the external load measuring the spring deflection and demonstrated to be particularly robust respect to system uncertainties, such as inertia value changes. Comparing the resulting control law with existing models we found several similarities with the Equilibrium Point Theory.

Original languageEnglish
Title of host publication2004 4th IEEE-RAS International Conference on Humanoid Robots
Pages196-214
Number of pages19
Publication statusPublished - Dec 1 2004
Event2004 4th IEEE-RAS International Conference on Humanoid Robots - Santa Monica, CA, United States
Duration: Nov 10 2004Nov 12 2004

Publication series

Name2004 4th IEEE-RAS International Conference on Humanoid Robots
Volume1

Other

Other2004 4th IEEE-RAS International Conference on Humanoid Robots
CountryUnited States
CitySanta Monica, CA
Period11/10/0411/12/04

Keywords

  • Biped
  • Equilibrium Point Hypothesis
  • Humanoid Robotics
  • Joint Stiffness Control

ASJC Scopus subject areas

  • Engineering(all)

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