Walking despite the passive compliance: Techniques for using conventional pattern generators to control instrinsically compliant humanoid robots

P. Kryczka, K. Hashimoto, Atsuo Takanishi, H. O. Lim, P. Kormushev, N. G. Tsagarakis, D. G. Caldwell

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

    1 Citation (Scopus)

    Abstract

    There are several problems which arise when using a standard ZMP-based pattern generator to control an intrinsically compliant humanoid robot like COMAN. We present two techniques: pelvis forward trajectory smoothing and polynomial admittance gain modulation, which make it possible to use the conventional pattern generator to control such passively compliant robots. The former method modifies the reference of the pelvis trajectory to counteract its overshooting caused by the compliance of the legs. The latter method is meant to decrease the impact during initial contact and decrease the error between the foot position and original reference during the mid-stance caused by the use of admittance control. We explain details of both of the methods and show results from walking experiments with and without the controls, proving their effectiveness.

    Original languageEnglish
    Title of host publicationNature-Inspired Mobile Robotics: Proceedings of the 16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2013
    Pages487-494
    Number of pages8
    Publication statusPublished - 2013
    Event16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2013 - Sydney, NSW
    Duration: 2013 Jul 142013 Jul 17

    Other

    Other16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2013
    CitySydney, NSW
    Period13/7/1413/7/17

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    Keywords

    • Admittance control
    • Biped locomotion
    • Passive compliance
    • ZMP

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Human-Computer Interaction

    Cite this

    Kryczka, P., Hashimoto, K., Takanishi, A., Lim, H. O., Kormushev, P., Tsagarakis, N. G., & Caldwell, D. G. (2013). Walking despite the passive compliance: Techniques for using conventional pattern generators to control instrinsically compliant humanoid robots. In Nature-Inspired Mobile Robotics: Proceedings of the 16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2013 (pp. 487-494)