Soft robotics for the hydraulic atlas arms: Joint impedance control with collision detection and disturbance compensation

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Vorndamme, J.; Schappler, M.; Tödtheide, A.; Haddadin, S.: Soft Robotics for the Hydraulic Atlas Arms: Joint Impedance Control with Collision Detection and Disturbance Compensation. In: Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), S. 3360-3367. Piscataway, NJ : IEEE, 2016. DOI: https://doi.org/10.1109/iros.2016.7759517

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To cite the version in the repository, please use this identifier: https://doi.org/10.15488/3515

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Sum total of downloads: 518




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Abstract: 
Soft robotics methods such as impedance control and reflexive collision handling have proven to be a valuable tool to robots acting in partially unknown and potentially unstructured environments. Mainly, the schemes were developed with focus on classical electromechanically driven, torque controlled robots. There, joint friction, mostly coming from high gearing, is typically decoupled from link-side control via suitable rigid or elastic joint torque feedback. Extending and applying these algorithms to stiff hydraulically actuated robots poses problems regarding the strong influence of friction on joint torque estimation from pressure sensing, i.e. link-side friction is typically significantly higher than in electromechanical soft robots. In order to improve the performance of such systems, we apply state-of-the-art fault detection and estimation methods together with observer-based disturbance compensation control to the humanoid robot Atlas. With this it is possible to achieve higher tracking accuracy despite facing significant modeling errors. Compliant end-effector behavior can also be ensured by including an additional force/torque sensor into the generalized momentum-based disturbance observer algorithm from [1].
License of this version: Es gilt deutsches Urheberrecht. Das Dokument darf zum eigenen Gebrauch kostenfrei genutzt, aber nicht im Internet bereitgestellt oder an Außenstehende weitergegeben werden.
Document Type: ConferenceObject
Publishing status: acceptedVersion
Issue Date: 2016
Appears in Collections:Fakultät für Elektrotechnik und Informatik

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pos. country downloads
total perc.
1 image of flag of Germany Germany 221 42.66%
2 image of flag of United States United States 62 11.97%
3 image of flag of China China 56 10.81%
4 image of flag of Japan Japan 24 4.63%
5 image of flag of France France 18 3.47%
6 image of flag of Korea, Republic of Korea, Republic of 12 2.32%
7 image of flag of Iran, Islamic Republic of Iran, Islamic Republic of 10 1.93%
8 image of flag of India India 10 1.93%
9 image of flag of Spain Spain 9 1.74%
10 image of flag of No geo information available No geo information available 8 1.54%
    other countries 88 16.99%

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