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

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dc.identifier.uri Vorndamme, Jonathan ger Schappler, Moritz ger Tödtheide, Alexander ger Haddadin, Sami ger 2018-07-09T11:00:58Z 2018-07-09T11:00:58Z 2016
dc.identifier.citation 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: ger
dc.description.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]. ger
dc.description.sponsorship European Commission/H2020/688857/EU ger
dc.language.iso eng ger
dc.publisher Piscataway, NJ : Institute of Electrical and Electronics Engineers Inc.
dc.relation info:eu-repo/grantAgreement/European Commission/H2020/688857/EU ger
dc.rights Es gilt deutsches Urheberrecht. Das Dokument darf zum eigenen Gebrauch kostenfrei genutzt, aber nicht im Internet bereitgestellt oder an Außenstehende weitergegeben werden. ger
dc.subject humanoid robots eng
dc.subject two-step identification eng
dc.subject collision detection eng
dc.subject collision isolation eng
dc.subject collision estimation eng
dc.subject.ddc 621,3 | Elektrotechnik, Elektronik ger
dc.title Soft robotics for the hydraulic atlas arms: Joint impedance control with collision detection and disturbance compensation eng
dc.type ConferenceObject ger
dc.type Text ger
dc.relation.isbn 978-1-5090-3762-9
dc.relation.doi 10.1109/IROS.2016.7759517
dc.description.version acceptedVersion ger
tib.accessRights frei zug�nglich ger

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