DocumentCode
3586874
Title
Natural admittance control of an electro-hydraulic humanoid robot
Author
Kit-Hang Lee ; Newman, Wyatt S.
Author_Institution
Hong Kong Univ., Hong Kong, China
fYear
2014
Firstpage
1100
Lastpage
1105
Abstract
Compliant-motion control implementation on a humanoid robot with electrohydraulic joints is presented. Characterization results are shown, leading to a dynamic model used in feedback. A Natural Admittance Controller is designed, and its performance is demonstrated in demanding manipulation tasks, including dual-arm palmar manipulation of an egg and dual-arm valve turning.
Keywords
electrohydraulic control equipment; feedback; humanoid robots; manipulators; motion control; compliant-motion control; dual-arm palmar manipulation; dual-arm valve turning; electro-hydraulic humanoid robot; feedback; natural admittance control; Actuators; Fluids; Force; Friction; Joints; Robot sensing systems; Torque;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Biomimetics (ROBIO), 2014 IEEE International Conference on
Type
conf
DOI
10.1109/ROBIO.2014.7090479
Filename
7090479
Link To Document