Title :
Compliant control of a hydraulic humanoid joint
Author :
Bentivegna, Darrin C. ; Atkeson, Christopher G. ; Kim, Jung-Yup
Author_Institution :
Dept. of Humanoid Robot. & Comput. Neurosci., ATR Comput. Neurosci. Labs., Kyoto
fDate :
Nov. 29 2007-Dec. 1 2007
Abstract :
This paper presents an analysis of a hydraulic joint on a humanoid robot. Various controllers have been designed that allow the limb to have a range of characteristics such as being stiff or compliant.
Keywords :
control system synthesis; humanoid robots; hydraulic control equipment; hydraulic systems; compliant control; controller design; hydraulic humanoid joint; Force sensors; Hip; Humanoid robots; Hydraulic actuators; Leg; Legged locomotion; Servomechanisms; Torque control; Valves; Velocity control;
Conference_Titel :
Humanoid Robots, 2007 7th IEEE-RAS International Conference on
Conference_Location :
Pittsburgh, PA
Print_ISBN :
978-1-4244-1861-9
Electronic_ISBN :
978-1-4244-1862-6
DOI :
10.1109/ICHR.2007.4813914
