Title :
Active-passive knee control for the humanoid UT-Theta
Author :
Wollherr, Dirk ; Zonfrilli, Fabio ; Nakamura, Yoshihiko
Author_Institution :
Inst. of Autom. Control Eng., Technische Univ. Munchen
Abstract :
This paper discusses low level control of the humanoid UT-Theta which has been developed at the University of Tokyo. This innovative humanoid walking robot is equipped with knee joint switchable between active and passive operation mode using a backlash clutch. A nonlinear, time optimal, hybrid controller for this knee joint is presented. The controller avoids discontinuities in the commanded trajectories thus ensuring smooth trajectory following. Relevance to practical application is shown in hardware experiments
Keywords :
humanoid robots; legged locomotion; motion control; nonlinear control systems; optimal control; position control; robot kinematics; active operation mode; active-passive knee control; backlash clutch; humanoid UT-Theta; hybrid controller; innovative humanoid walking robot; knee joint; nonlinear controller; passive operation mode; smooth trajectory following; time optimal controller; trajectory command; Automatic control; Hip; Humanoid robots; Humans; Knee; Leg; Legged locomotion; Level control; Optimal control; Switches;
Conference_Titel :
Advanced Robotics, 2005. ICAR '05. Proceedings., 12th International Conference on
Conference_Location :
Seattle, WA
Print_ISBN :
0-7803-9178-0
DOI :
10.1109/ICAR.2005.1507484
