Experimental evaluation of a trajectory/force tracking controller for a humanoid robot cleaning a vertical surface

Author

Sato, Fuyuki ; Nishii, Tatsuya ; Takahashi, Jun ; Yoshida, Yuki ; Mitsuhashi, Masaru ; Nenchev, Dragomir

Author_Institution

Dept. of Mech. Syst. Eng., Tokyo City Univ., Tokyo, Japan

fYear

2011

fDate

25-30 Sept. 2011

Firstpage

3179

Lastpage

3184

Abstract

The task of cleaning a vertical flat surface with the help of a standing humanoid robot is considered. A trajectory/force tracking controller is introduced that is implemented under a mixed position/torque control mode. The arm joints are controlled with a conventional PD controller working under position control, while the ankle joints are torque controlled. The desired force is realized via a force tracking controller using CoM and ZMP position readings obtained from the pressure sensors in the feet. The trajectory/force tracking controller is implemented and experimentally evaluated with a miniature humanoid robot HOAP-2.

Keywords

PD control; force control; humanoid robots; position control; torque control; PD controller; cleaning; humanoid robot; position control; position/torque control mode; pressure sensors; trajectory/force tracking controller; vertical flat surface; vertical surface; Cleaning; Force; Humanoid robots; Joints; Sensors; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on

Conference_Location

San Francisco, CA

ISSN

2153-0858

Print_ISBN

978-1-61284-454-1

Type

conf

DOI

10.1109/IROS.2011.6094615

Filename

6094615