RT Journal Article
T1 Experimental Robot Model Adjustments Based on Force-Torque Sensor Information
A1 Martínez de la Casa Díaz, Santiago
A1 García Haro, Juan Miguel
A1 Jardón Huete, Alberto
A1 Balaguer Bernaldo de Quirós, Carlos
AB The computational complexity of humanoid robot balance control is reduced through the application of simplified kinematics and dynamics models. However, these simplifications lead to the introduction of errors that add to other inherent electro-mechanic inaccuracies and affect the robotic system. Linear control systems deal with these inaccuracies if they operate around a specific working point but are less precise if they do not. This work presents a model improvement based on the Linear Inverted Pendulum Model (LIPM) to be applied in a non-linear control system. The aim is to minimize the control error and reduce robot oscillations for multiple working points. The new model, named the Dynamic LIPM (DLIPM), is used to plan the robot behavior with respect to changes in the balance status denoted by the zero moment point (ZMP). Thanks to the use of information from force-torque sensors, an experimental procedure has been applied to characterize the inaccuracies and introduce them into the new model. The experiments consist of balance perturbations similar to those of push-recovery trials, in which step-shaped ZMP variations are produced. The results show that the responses of the robot with respect to balance perturbations are more precise and the mechanical oscillations are reduced without comprising robot dynamics
PB MDPI
SN 1424-8220
YR 2018
FD 2018-03-11
LK https://hdl.handle.net/10016/28072
UL https://hdl.handle.net/10016/28072
LA eng
NO The research leading to these results received funding from the RoboCity2030-III-CM project (Robótica aplicada a la mejora de la calidad de vida de los ciudadanos. Fase III; S2013/MIT-2748), funded by Programas de Actividades I+D en la Comunidad de Madrid and cofunded by Structural Funds of the EU.
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RD 27 jul. 2024