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

fYear

2005

fDate

18-20 July 2005

Firstpage

692

Lastpage

697

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Robotics, 2005. ICAR '05. Proceedings., 12th International Conference on

Conference_Location

Seattle, WA

Print_ISBN

0-7803-9178-0

Type

conf

DOI

10.1109/ICAR.2005.1507484

Filename

1507484