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Compliant Control of a Hydraulic Humanoid Joint Darrin C. Bentivegna, Christopher G. Atkeson, and Jung-Yup Kim
 

Summary: Compliant Control of a Hydraulic Humanoid Joint
Darrin C. Bentivegna, Christopher G. Atkeson, and Jung-Yup Kim
ATR Computational Neuroscience Laboratories,
Department of Humanoid Robotics and Computational Neuroscience, Kyoto, Japan
Carnegie Mellon University, Robotics Institute, Pittsburgh, PA, USA
(darrin@atr.jp, cga@cmu.edu, jungyupkim76@gmail.com)
Abstract-- This paper presents an analysis of a hydraulic joint
on a humanoid robot. Various controllers have been designed
that allow the limb to have a range of characteristics such as
being stiff or compliant.
I. INTRODUCTION
A humanoid robot needs to have limbs that satisfy a
variety of criteria. While the robot is walking, the stance
leg needs to be strong to support the entire weight of the
robot. The swing leg needs to be compliant to account for
any disturbances that might occur while the leg is moving
into position and when it hits the ground. In double support,
both legs need to be compliant to minimize internal forces.
The characteristics of a leg will need to quickly change as
the swing leg becomes the stance leg and the stance leg

  

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

 

Collections: Computer Technologies and Information Sciences; Engineering