Implementation, Identification and Control of an Efficient Electric Actuator for Humanoid Robots

Florent Forget, Kevin Giraud-Esclasse, Rodolphe Gelin, Nicolas Mansard, Olivier Stasse

Abstract

Autonomous robots such as legged robots and mobile manipulators imply new challenges in the design and the control of their actuators. In particular, it is desirable that the actuators are back-drivable, efficient (low friction) and compact. In this paper, we report the complete implementation of an advanced actuator based on screw, nut and cable. This actuator has been chosen for the humanoid robot Romeo. A similar model of the actuator has been used to control the humanoid robot Valkyrie. We expose the design of this actuator and present its Lagrangian model. The actuator being flexible, we propose a two-layer optimal control solver based on Differential Dynamical Programming. The actuator design, model identification and control is validated on a full actuator mounted in a work bench. The results show that this type of actuation is very suitable for legged robots and is a good candidate to replace strain wave gears.

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Paper Citation


in Harvard Style

Forget F., Giraud-Esclasse K., Gelin R., Mansard N. and Stasse O. (2018). Implementation, Identification and Control of an Efficient Electric Actuator for Humanoid Robots.In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-321-6, pages 29-38. DOI: 10.5220/0006825500290038


in Bibtex Style

@conference{icinco18,
author={Florent Forget and Kevin Giraud-Esclasse and Rodolphe Gelin and Nicolas Mansard and Olivier Stasse},
title={Implementation, Identification and Control of an Efficient Electric Actuator for Humanoid Robots},
booktitle={Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2018},
pages={29-38},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006825500290038},
isbn={978-989-758-321-6},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Implementation, Identification and Control of an Efficient Electric Actuator for Humanoid Robots
SN - 978-989-758-321-6
AU - Forget F.
AU - Giraud-Esclasse K.
AU - Gelin R.
AU - Mansard N.
AU - Stasse O.
PY - 2018
SP - 29
EP - 38
DO - 10.5220/0006825500290038