A compliance control method based on viscoelastic model for position-controlled humanoid robots

Li，Qingqing1; Yu，Zhangguo1,2; Chen，Xuechao1,2; Meng，Libo1,3; Huang，Qiang1,3; Fu，Chenglong4; Chen，Ken5; Tao，Chunjing6

10.1109/IROS45743.2020.9340831

2020-10-24

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

2153-0858

2153-0866

978-1-7281-6213-3

IEEE International Conference on Intelligent Robots and Systems

3518-3524

OCT 24-JAN 24, 2020-2021

null,null,ELECTR NETWORK

345 E 47TH ST, NEW YORK, NY 10017 USA

IEEE

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.

Legged locomotion Adaptation models State feedback Humanoid robots Manipulators Mathematical model Task analysis

其他

英语

EI ; CPCI-S

National Natural Science Foundation of China[61533004,61703043]

Automation & Control Systems ; Computer Science ; Engineering ; Robotics

Automation & Control Systems ; Computer Science, Artificial Intelligence ; Engineering, Electrical & Electronic ; Robotics

WOS:000714033801110

20211110063766

Agricultural robots ; Anthropomorphic robots ; Equations of state ; Intelligent robots ; Position control ; State feedback ; Viscoelasticity

Automatic Control Principles and Applications:731 ; Physical Properties of Gases, Liquids and Solids:931.2

2-s2.0-85102027480

Scopus

1.Beijing Institute of Technology,School of Mechatronical Engineering,Beijing,100081,China
2.Beijing Advanced Innovation Center for Intelligent Robots and Systems,Beijing Institute of Technology,Beijing,100081,China
3.Key Laboratory of Biomimetic Robots and Systems,Ministry of Education,Beijing,100081,China
4.Southern University of Science and Technology,Department of Mechanical and Energy Engineering,Shenzhen,518055,China
5.Tsinghua University,Department of Mechanical Engineering,Beijing,100084,China
6.National Research Center for Rehabilitation Technical Aids,Human Biomechanics Laboratory,Beijing,100176,China

Li，Qingqing,Yu，Zhangguo,Chen，Xuechao,et al. A compliance control method based on viscoelastic model for position-controlled humanoid robots[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2020:3518-3524.