Development of a biped robot with torque controlled joints

This paper gives an overview of the development of a novel biped walking machine. The robot is designed as an experimental system for studying biped locomotion based on torque controlled joints. As an underlying drive technology, the torque controlled joint units of the DLR-KUKA-Lightweight-Robot are employed. The relevant design choices for using this technology in a biped robot with integrated joint torque sensors are highlighted and some first experimental results using a conventional ZMP based control scheme are discussed.

[1]  Kikuo Fujimura,et al.  The intelligent ASIMO: system overview and integration , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

[2]  Gordon Cheng,et al.  Gravity Compensation and Full-Body Balancing for Humanoid Robots , 2006, 2006 6th IEEE-RAS International Conference on Humanoid Robots.

[3]  Lawrence R. Rabiner,et al.  A tutorial on hidden Markov models and selected applications in speech recognition , 1989, Proc. IEEE.

[4]  Atsuo Takanishi,et al.  Development of a new humanoid robot WABIAN-2 , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[5]  Masayuki Inaba,et al.  Design and development of research platform for perception-action integration in humanoid robot: H6 , 2000, Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113).

[6]  Gerd Hirzinger,et al.  Impedance Behaviors for Two-handed Manipulation: Design and Experiments , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[7]  Ryosuke Tajima,et al.  Fast running experiments involving a humanoid robot , 2009, 2009 IEEE International Conference on Robotics and Automation.

[8]  Zhiwei Luo,et al.  A novel gait generation for biped walking robots based on mechanical energy constraint , 2002, IEEE Transactions on Robotics and Automation.

[9]  Yoshihiko Nakamura,et al.  Mimesis Model from Partial Observations for a Humanoid Robot , 2010, Int. J. Robotics Res..

[10]  Toshikazu Kawasaki,et al.  Design and experiments of advanced leg module (HRP-2L) for humanoid robot (HRP-2) development , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

[11]  Russ Tedrake,et al.  Efficient Bipedal Robots Based on Passive-Dynamic Walkers , 2005, Science.

[12]  Kazuhito Yokoi,et al.  Open architecture humanoid robotics platform , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[13]  Hirochika Inoue,et al.  Real-time humanoid motion generation through ZMP manipulation based on inverted pendulum control , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[14]  T. Takenaka,et al.  The development of Honda humanoid robot , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[15]  Gerd Hirzinger,et al.  Passivity-based Object-Level Impedance Control for a Multifingered Hand , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[16]  Alin Albu-Schäffer,et al.  DLR's torque-controlled light weight robot III-are we reaching the technological limits now? , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[17]  Fumio Kanehiro,et al.  Humanoid robot HRP-2 , 2008, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[18]  Kazuhito Yokoi,et al.  Biped walking pattern generation by using preview control of zero-moment point , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[19]  Arthur D Kuo,et al.  Energetics of actively powered locomotion using the simplest walking model. , 2002, Journal of biomechanical engineering.

[20]  Jerry Pratt,et al.  Exploiting Natural Dynamics in the Control of a Planar Bipedal Walking Robot , 1998 .

[21]  Tad McGeer,et al.  Passive Dynamic Walking , 1990, Int. J. Robotics Res..

[22]  Tatsuzo Ishida,et al.  Mechanical system of a small biped entertainment robot , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[23]  Christoph Borst,et al.  A Humanoid Two-Arm System for Dexterous Manipulation , 2006, 2006 6th IEEE-RAS International Conference on Humanoid Robots.

[24]  Jun-Ho Oh,et al.  Mechanical design of the humanoid robot platform, HUBO , 2007, Adv. Robotics.

[25]  Shuuji Kajita,et al.  Cybernetic human HRP-4C , 2009, 2009 9th IEEE-RAS International Conference on Humanoid Robots.

[26]  Youngjin Choi,et al.  On the walking control for humanoid robot based on the kinematic resolution of CoM Jacobian with embedded motion , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[27]  Jun Morimoto,et al.  CB: A Humanoid Research Platform for Exploring NeuroScience , 2006, 2006 6th IEEE-RAS International Conference on Humanoid Robots.

[28]  Berthold Bäuml,et al.  When hard realtime matters: Software for complex mechatronic systems , 2008, Robotics Auton. Syst..

[29]  Alin Albu-Schäffer,et al.  On the Passivity-Based Impedance Control of Flexible Joint Robots , 2008, IEEE Transactions on Robotics.

[30]  Kenji KANEKO,et al.  Humanoid robot HRP-3 , 2004, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[31]  M. Vukobratovic,et al.  On the stability of anthropomorphic systems , 1972 .

[32]  Jerry Pratt,et al.  Design of a bipedal walking robot , 2008, SPIE Defense + Commercial Sensing.

[33]  Matthew M. Williamson,et al.  Series elastic actuators , 1995, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots.

[34]  H. Ulbrich,et al.  System Design and Control of Anthropomorphic Walking Robot LOLA , 2009, IEEE/ASME Transactions on Mechatronics.

[35]  Masayuki Inaba,et al.  Online footstep planning for humanoid robots , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).