DocumentCode
3144605
Title
Compliant control of a hydraulic humanoid joint
Author
Bentivegna, Darrin C. ; Atkeson, Christopher G. ; Kim, Jung-Yup
Author_Institution
Dept. of Humanoid Robot. & Comput. Neurosci., ATR Comput. Neurosci. Labs., Kyoto
fYear
2007
fDate
Nov. 29 2007-Dec. 1 2007
Firstpage
483
Lastpage
489
Abstract
This paper presents an analysis of a hydraulic joint on a humanoid robot. Various controllers have been designed that allow the limb to have a range of characteristics such as being stiff or compliant.
Keywords
control system synthesis; humanoid robots; hydraulic control equipment; hydraulic systems; compliant control; controller design; hydraulic humanoid joint; Force sensors; Hip; Humanoid robots; Hydraulic actuators; Leg; Legged locomotion; Servomechanisms; Torque control; Valves; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
Humanoid Robots, 2007 7th IEEE-RAS International Conference on
Conference_Location
Pittsburgh, PA
Print_ISBN
978-1-4244-1861-9
Electronic_ISBN
978-1-4244-1862-6
Type
conf
DOI
10.1109/ICHR.2007.4813914
Filename
4813914
Link To Document