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Modeling, identification and joint impedance control of the Atlas arms

Schappler, M. and Vorndamme, J. and Toedtheide, Alexander and Conner, D C. and Stryk, Oskar von and Haddadin, Sami (2015):
Modeling, identification and joint impedance control of the Atlas arms.
In: IEEE RAS Intl. Conf. on Humanoid Robots, DOI: https://ieeexplore.ieee.org/document/7363499,
[Conference or Workshop Item]

Abstract

Compliant manipulation has become central to robots that are sought to safely act in and interact with unstructured as well as only partially known environments. In this paper we equip the hydraulically actuated, position controlled arms of the Atlas robot with model-based joint impedance control, including suitable damping design, and experimentally verify the proposed algorithm. Our approach, which originates from the advances in soft-robotics control, relies on high-performance low-level joint torque control. This makes it independent from the actual technology being hydraulic or electromechanical. This paper describes the approach to accurately model the dynamics, and design the optimal excitation trajectory for system identification to enable the specification of model-based feed-forward controls. In conclusion, the implemented controller enables the robot arm to execute significantly smoother motions, be compliant against external forces, and have similar tracking performance as compared to the existing position control scheme. Finally, unknown modeling inaccuracies and contact forces are accurately estimated by a suitable disturbance observer, which will be used in the future to further enhance our controller’s performance.

Item Type: Conference or Workshop Item
Erschienen: 2015
Creators: Schappler, M. and Vorndamme, J. and Toedtheide, Alexander and Conner, D C. and Stryk, Oskar von and Haddadin, Sami
Title: Modeling, identification and joint impedance control of the Atlas arms
Language: English
Abstract:

Compliant manipulation has become central to robots that are sought to safely act in and interact with unstructured as well as only partially known environments. In this paper we equip the hydraulically actuated, position controlled arms of the Atlas robot with model-based joint impedance control, including suitable damping design, and experimentally verify the proposed algorithm. Our approach, which originates from the advances in soft-robotics control, relies on high-performance low-level joint torque control. This makes it independent from the actual technology being hydraulic or electromechanical. This paper describes the approach to accurately model the dynamics, and design the optimal excitation trajectory for system identification to enable the specification of model-based feed-forward controls. In conclusion, the implemented controller enables the robot arm to execute significantly smoother motions, be compliant against external forces, and have similar tracking performance as compared to the existing position control scheme. Finally, unknown modeling inaccuracies and contact forces are accurately estimated by a suitable disturbance observer, which will be used in the future to further enhance our controller’s performance.

Title of Book: IEEE RAS Intl. Conf. on Humanoid Robots
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Date Deposited: 20 Jun 2016 23:26
DOI: https://ieeexplore.ieee.org/document/7363499
Identification Number: 2015:HUM-Schappler-etal
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