TY - GEN
T1 - A compliance control method based on viscoelastic model for position-controlled humanoid robots
AU - Li, Qingqing
AU - Yu, Zhangguo
AU - Chen, Xuechao
AU - Meng, Libo
AU - Huang, Qiang
AU - Fu, Chenglong
AU - Chen, Ken
AU - Tao, Chunjing
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/10/24
Y1 - 2020/10/24
N2 - Compliance is important for humanoid robots, especially a position-controlled one, to perform tasks in complicated environments where unexpected or sudden contacts will result in large impacts which may cause instability or destroy the hardware of robots. This paper presents a compliance control method based on viscoelastic model for humanoid robots to survive on these conditions. The viscoelastic model is used to obtain the relationship between the differential of contact force/torque and linear/angular position. Thus a state equation of this model can be established and a state feedback controller adjusting the position to adapt to the contact force/torque can be designed to realize the compliant movement. The proposed compliance control method based on viscoelastic model has been employed in ankle compliance for stable walking on indefinite uneven terrain and arm compliance for falling protection on BHR-6P, a position-controlled humanoid robot, which validates its effectiveness.
AB - Compliance is important for humanoid robots, especially a position-controlled one, to perform tasks in complicated environments where unexpected or sudden contacts will result in large impacts which may cause instability or destroy the hardware of robots. This paper presents a compliance control method based on viscoelastic model for humanoid robots to survive on these conditions. The viscoelastic model is used to obtain the relationship between the differential of contact force/torque and linear/angular position. Thus a state equation of this model can be established and a state feedback controller adjusting the position to adapt to the contact force/torque can be designed to realize the compliant movement. The proposed compliance control method based on viscoelastic model has been employed in ankle compliance for stable walking on indefinite uneven terrain and arm compliance for falling protection on BHR-6P, a position-controlled humanoid robot, which validates its effectiveness.
UR - http://www.scopus.com/inward/record.url?scp=85102027480&partnerID=8YFLogxK
U2 - 10.1109/IROS45743.2020.9340831
DO - 10.1109/IROS45743.2020.9340831
M3 - Conference contribution
AN - SCOPUS:85102027480
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3518
EP - 3524
BT - 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
Y2 - 24 October 2020 through 24 January 2021
ER -