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Online Gain Switching Algorithm for Joint Position Control of a Hydraulic Humanoid Robot
 

Summary: Online Gain Switching Algorithm for Joint Position
Control of a Hydraulic Humanoid Robot
Jung-Yup Kim*
, Christopher G. Atkeson*
, Jessica K. Hodgins*
, Darrin C. Bentivegna*,**
and Sung Ju Cho*
*
Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA
**
ATR Computational Neuroscience Laboratories, Dept. of Humanoid Robotics and Computational Neuroscience, Kyoto, JAPAN
{jungyup, cga and jkh}@cs.cmu.edu , darrin@{cmu.edu or atr.jp}, sunjuc@andrew.cmu.edu
Abstract This paper proposes a gain switching algorithm
for joint position control of a hydraulic humanoid robot.
Accurate position control of the lower body is a one of the basic
requirements for robust balance and walking control. In general,
it is more difficult to perform joint position control of hydraulic
humanoid robots than electric humanoid robots because of a
slower actuator time constant and the backdrivability of
hydraulic joints. Because of the backdrivability, external forces

  

Source: Atkeson, Christopher G. - Robotics Institute, School of Computer Science, Carnegie Mellon University

 

Collections: Computer Technologies and Information Sciences; Engineering