christian ott german aerospace center (dlr) · development and control of compliant humanoid robots...
TRANSCRIPT
![Page 1: Christian Ott German Aerospace Center (DLR) · Development and Control of Compliant Humanoid Robots at DLR Christian Ott German Aerospace Center (DLR) DLR.de • Chart 1 > Humanoids](https://reader033.vdocuments.net/reader033/viewer/2022042105/5e8303639f4cb05c9847c6b7/html5/thumbnails/1.jpg)
Development and Control of Compliant HumanoidRobots at DLRChristian OttGerman Aerospace Center (DLR)
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 1
![Page 2: Christian Ott German Aerospace Center (DLR) · Development and Control of Compliant Humanoid Robots at DLR Christian Ott German Aerospace Center (DLR) DLR.de • Chart 1 > Humanoids](https://reader033.vdocuments.net/reader033/viewer/2022042105/5e8303639f4cb05c9847c6b7/html5/thumbnails/2.jpg)
1) Design & Control of compliant robots Torque Controlled Robots
Elastic Robots
2) Control of humanoid robots Compliant Control
Bipedal Walking
Overview
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 2
![Page 3: Christian Ott German Aerospace Center (DLR) · Development and Control of Compliant Humanoid Robots at DLR Christian Ott German Aerospace Center (DLR) DLR.de • Chart 1 > Humanoids](https://reader033.vdocuments.net/reader033/viewer/2022042105/5e8303639f4cb05c9847c6b7/html5/thumbnails/3.jpg)
τq
Motor
Elasticity
Segment
m
m
ext
qKB
qKqgqqqCqqM
)(
)()(),()(
Robot Model with Torque Sensors> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 3
![Page 4: Christian Ott German Aerospace Center (DLR) · Development and Control of Compliant Humanoid Robots at DLR Christian Ott German Aerospace Center (DLR) DLR.de • Chart 1 > Humanoids](https://reader033.vdocuments.net/reader033/viewer/2022042105/5e8303639f4cb05c9847c6b7/html5/thumbnails/4.jpg)
τq
Motor
Elasticity
Segment
m
Joint torquesensor
Light-weight robotwith elastic joints
Movementaccuracy
activevibration damping
Safe human-robot-interaction
compliancecontrol
collisionreaction
Disturbance ObserverIdentification
Advantages of Torque Sensing
Torque Control
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 4
![Page 5: Christian Ott German Aerospace Center (DLR) · Development and Control of Compliant Humanoid Robots at DLR Christian Ott German Aerospace Center (DLR) DLR.de • Chart 1 > Humanoids](https://reader033.vdocuments.net/reader033/viewer/2022042105/5e8303639f4cb05c9847c6b7/html5/thumbnails/5.jpg)
τq
Motor
Elasticity
Segment
m
Joint torquesensor
Light-weight robotwith elastic joints
Movementaccuracy
activevibration damping
Safe human-robot-interaction
compliancecontrol
collisionreaction
Disturbance ObserverIdentification
Advantages of Torque Sensing
Torque Control
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 5
![Page 6: Christian Ott German Aerospace Center (DLR) · Development and Control of Compliant Humanoid Robots at DLR Christian Ott German Aerospace Center (DLR) DLR.de • Chart 1 > Humanoids](https://reader033.vdocuments.net/reader033/viewer/2022042105/5e8303639f4cb05c9847c6b7/html5/thumbnails/6.jpg)
τq
Motor
Elasticity
Segment
m
Joint torquesensor
Light-weight robotwith elastic joints
Movementaccuracy
activevibration damping
Safe human-robot-interaction
compliancecontrol
collisionreaction
Disturbance ObserverIdentification
Advantages of Torque Sensing
Torque Control
fm
qfext
B
qgqqqCqqM
,)(),()(
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 6
![Page 7: Christian Ott German Aerospace Center (DLR) · Development and Control of Compliant Humanoid Robots at DLR Christian Ott German Aerospace Center (DLR) DLR.de • Chart 1 > Humanoids](https://reader033.vdocuments.net/reader033/viewer/2022042105/5e8303639f4cb05c9847c6b7/html5/thumbnails/7.jpg)
τq
Motor
Elasticity
Segment
m
Joint torquesensor
Light-weight robotwith elastic joints
Movementaccuracy
activevibration damping
Safe human-robot-interaction
compliancecontrol
collisionreaction
Disturbance ObserverIdentification
Advantages of Torque Sensing
Torque Control
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 7
![Page 8: Christian Ott German Aerospace Center (DLR) · Development and Control of Compliant Humanoid Robots at DLR Christian Ott German Aerospace Center (DLR) DLR.de • Chart 1 > Humanoids](https://reader033.vdocuments.net/reader033/viewer/2022042105/5e8303639f4cb05c9847c6b7/html5/thumbnails/8.jpg)
Compliant ManipulationJoint torque sensing & control for manipulation
Robustness: Passivity Based Control
Performance:Joint Torque Feedback
(noncollocated)
MotorDynamics
Rigid-BodyDynamics
TorqueControl
Environ-ment
ComplianceControl
extq
um
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 8 [Ott & Albu-Schäffer, TRO 2008]
![Page 9: Christian Ott German Aerospace Center (DLR) · Development and Control of Compliant Humanoid Robots at DLR Christian Ott German Aerospace Center (DLR) DLR.de • Chart 1 > Humanoids](https://reader033.vdocuments.net/reader033/viewer/2022042105/5e8303639f4cb05c9847c6b7/html5/thumbnails/9.jpg)
Compliant ManipulationJoint torque sensing & control for manipulation
Robustness: Passivity Based Control
Performance:Joint Torque Feedback
(noncollocated)
MotorDynamics
Rigid-BodyDynamics
TorqueControl
Environ-ment
ComplianceControl
extq
um
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 9
)(q
)(q
qqV
ext
)(Equilibrium:
Compensation of the static effects of K Allows to fulfill requirements on the link side accuracy! Computation of by contraction analysis!
extqKqg )()(
)(q
[Ott & Albu-Schäffer, TRO 2008]
![Page 10: Christian Ott German Aerospace Center (DLR) · Development and Control of Compliant Humanoid Robots at DLR Christian Ott German Aerospace Center (DLR) DLR.de • Chart 1 > Humanoids](https://reader033.vdocuments.net/reader033/viewer/2022042105/5e8303639f4cb05c9847c6b7/html5/thumbnails/10.jpg)
Compliant Manipulation
Robustness: Passivity Based Control
Performance:Joint Torque Feedback
(noncollocated)
MotorDynamics
Rigid-BodyDynamics
TorqueControl
Environ-ment
ComplianceControl
extq
um
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 10
)(q
[Ott & Albu-Schäffer, TRO 2008]
![Page 11: Christian Ott German Aerospace Center (DLR) · Development and Control of Compliant Humanoid Robots at DLR Christian Ott German Aerospace Center (DLR) DLR.de • Chart 1 > Humanoids](https://reader033.vdocuments.net/reader033/viewer/2022042105/5e8303639f4cb05c9847c6b7/html5/thumbnails/11.jpg)
11> Humanoids 2014 > Christian Ott > 18.11.2014
![Page 12: Christian Ott German Aerospace Center (DLR) · Development and Control of Compliant Humanoid Robots at DLR Christian Ott German Aerospace Center (DLR) DLR.de • Chart 1 > Humanoids](https://reader033.vdocuments.net/reader033/viewer/2022042105/5e8303639f4cb05c9847c6b7/html5/thumbnails/12.jpg)
Folie 12
Humanoid Robots at DLR
Anthropomorphic Hand-Arm System
Legged HumanoidJoint torque sensing & control
Bimanual (Humanoid) Manipulation
• Compliant actuation
• Antagonistic actuation for fingers
• Variable stiffness actuation in arm
• Robustness to shocks and impacts
Space Qualified Joint Technology
ROKVISS
PAGE 12
![Page 13: Christian Ott German Aerospace Center (DLR) · Development and Control of Compliant Humanoid Robots at DLR Christian Ott German Aerospace Center (DLR) DLR.de • Chart 1 > Humanoids](https://reader033.vdocuments.net/reader033/viewer/2022042105/5e8303639f4cb05c9847c6b7/html5/thumbnails/13.jpg)
• Antropomorphic design: Size, kinematics, force and dynamics of human arm and hand
• Actuation principle: Variable stiffness in all joints (3 types)
• 27 DoF• 50 motors• 108 position sensors
Antropomorphic Hand/Arm System
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 13
Antagonistic finger actuationTendon driven fingers
4 x FloatingSpring Joint
3 x BAVS (Bi‐directionalantagonism)
20 x Antagonistic
[Grebenstein, Albu-Schäffer et al, ICRA 2011]
![Page 14: Christian Ott German Aerospace Center (DLR) · Development and Control of Compliant Humanoid Robots at DLR Christian Ott German Aerospace Center (DLR) DLR.de • Chart 1 > Humanoids](https://reader033.vdocuments.net/reader033/viewer/2022042105/5e8303639f4cb05c9847c6b7/html5/thumbnails/14.jpg)
Floating Spring Joint (4 DoF)• big motor for positioning • small motor to change stiffness • one single spring
Bidirectional Antagonism with Variable Stiffness Actuation (3 DoF)
• 2 equivalent motors • asymmetric cam disc shape• redundant joint actuation
Antagonism (20 DoF Hand): • 2 equivalent motors • in-tendon progressive spring
mechanism
Types of actuation
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 14
![Page 15: Christian Ott German Aerospace Center (DLR) · Development and Control of Compliant Humanoid Robots at DLR Christian Ott German Aerospace Center (DLR) DLR.de • Chart 1 > Humanoids](https://reader033.vdocuments.net/reader033/viewer/2022042105/5e8303639f4cb05c9847c6b7/html5/thumbnails/15.jpg)
Motivation for physical compliance
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 15
Robustness Performance
![Page 16: Christian Ott German Aerospace Center (DLR) · Development and Control of Compliant Humanoid Robots at DLR Christian Ott German Aerospace Center (DLR) DLR.de • Chart 1 > Humanoids](https://reader033.vdocuments.net/reader033/viewer/2022042105/5e8303639f4cb05c9847c6b7/html5/thumbnails/16.jpg)
1) Modal decoupling (link side)
2) Use torque feedback to achievedecoupling in M, K, and B
3) SISO design in decoupled coordinates
Control Challenges: Vibration Damping
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 16
m
ext
qKB
qKqgqqqCqqM
)(
)()(),()(
[Petit, Albu-Schäffer, ICRA 2011]
uBBBBI ddm11
1
1
QQK
QMQMT
QT
KMBd
0,0 QM
qQQ
q 1
1
![Page 17: Christian Ott German Aerospace Center (DLR) · Development and Control of Compliant Humanoid Robots at DLR Christian Ott German Aerospace Center (DLR) DLR.de • Chart 1 > Humanoids](https://reader033.vdocuments.net/reader033/viewer/2022042105/5e8303639f4cb05c9847c6b7/html5/thumbnails/17.jpg)
1) Modal Decoupling (link side)
2) Use torque feedback to achievedecoupling in M, K, and B
3) SISO design in decoupled coordinates
Control Challenges: Vibration Damping
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 17
m
ext
qKB
qKqgqqqCqqM
)(
)()(),()(
[Petit, Albu-Schäffer, ICRA 2011]
uBBBBI ddm11
1
1
QQK
QMQMT
QT
KMBd
0,0 QM
qQQ
q 1
1
![Page 18: Christian Ott German Aerospace Center (DLR) · Development and Control of Compliant Humanoid Robots at DLR Christian Ott German Aerospace Center (DLR) DLR.de • Chart 1 > Humanoids](https://reader033.vdocuments.net/reader033/viewer/2022042105/5e8303639f4cb05c9847c6b7/html5/thumbnails/18.jpg)
Compliance ( ) given as a seriesinterconnection of active and passive stiffnesselements
1) Use physical springs in the joints to set desiredstiffness as close as possible
2) Use active compliance to realize precise Cartesiancompliance
solve a matrix nearness problem
Control Challenges: Stiffness Design
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 18
pa CCC
1 KC
pdes CC min
0withmin aapdes CCCC
[Petit, Albu-Schäffer, IROS 2011]
Utilizes variabilityof the stiffness!
![Page 19: Christian Ott German Aerospace Center (DLR) · Development and Control of Compliant Humanoid Robots at DLR Christian Ott German Aerospace Center (DLR) DLR.de • Chart 1 > Humanoids](https://reader033.vdocuments.net/reader033/viewer/2022042105/5e8303639f4cb05c9847c6b7/html5/thumbnails/19.jpg)
1) Design & Control of compliant robots Torque Controlled Robots
Elastic Robots
2) Control of humanoid robots Compliant Control
Bipedal Walking
Overview
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 19
![Page 20: Christian Ott German Aerospace Center (DLR) · Development and Control of Compliant Humanoid Robots at DLR Christian Ott German Aerospace Center (DLR) DLR.de • Chart 1 > Humanoids](https://reader033.vdocuments.net/reader033/viewer/2022042105/5e8303639f4cb05c9847c6b7/html5/thumbnails/20.jpg)
Bipedal Walking Robots at DLR
DLR-Biped(2010-2012)
TORO, preliminary version (2012)
TORO (2013)TOrque controlled humanoid RObot
• Joint torque sensing & control
• Small foot size: 19 x 9,5 cm
• IMU in head & trunk
• FTS in feet for position based control
• Sensorized head (stereo vision & kinect)
• Simple prosthetic hands (iLIMB)
[Ott
et a
l, H
uman
oids
2010
]
[Eng
lsbe
rger
et a
l, H
uman
oids
2014
]
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 20
![Page 21: Christian Ott German Aerospace Center (DLR) · Development and Control of Compliant Humanoid Robots at DLR Christian Ott German Aerospace Center (DLR) DLR.de • Chart 1 > Humanoids](https://reader033.vdocuments.net/reader033/viewer/2022042105/5e8303639f4cb05c9847c6b7/html5/thumbnails/21.jpg)
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 21
![Page 22: Christian Ott German Aerospace Center (DLR) · Development and Control of Compliant Humanoid Robots at DLR Christian Ott German Aerospace Center (DLR) DLR.de • Chart 1 > Humanoids](https://reader033.vdocuments.net/reader033/viewer/2022042105/5e8303639f4cb05c9847c6b7/html5/thumbnails/22.jpg)
Motivation for compliant control
completely stiff fully compliantcompliant control
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 22
![Page 23: Christian Ott German Aerospace Center (DLR) · Development and Control of Compliant Humanoid Robots at DLR Christian Ott German Aerospace Center (DLR) DLR.de • Chart 1 > Humanoids](https://reader033.vdocuments.net/reader033/viewer/2022042105/5e8303639f4cb05c9847c6b7/html5/thumbnails/23.jpg)
Balancing & Posture Control
Trunk orientation Control
)()( dDdPCOM ccKccKMgF
Mg
extF
COMF
HIPT
)3(SOR
)(),(dR
RHIP DKRVT
extT
c
IMU measurements
Compliant COM control [Hyon & Cheng, 2006]
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 23 [Ott & Roa, Humanoids 2011]
![Page 24: Christian Ott German Aerospace Center (DLR) · Development and Control of Compliant Humanoid Robots at DLR Christian Ott German Aerospace Center (DLR) DLR.de • Chart 1 > Humanoids](https://reader033.vdocuments.net/reader033/viewer/2022042105/5e8303639f4cb05c9847c6b7/html5/thumbnails/24.jpg)
Balancing & Posture ControlCompliant COM control [Hyon & Cheng, 2006]
Trunk orientation Control
)()( dDdPCOM ccKccKMgF
Mg
extF
COMF
HIPT
)3(SOR
)(),(dR
RHIP DKRVT
extT
),( HIPCOMd TFW Desired wrench:
IMU measurements
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 24 [Ott & Roa, Humanoids 2011]
![Page 25: Christian Ott German Aerospace Center (DLR) · Development and Control of Compliant Humanoid Robots at DLR Christian Ott German Aerospace Center (DLR) DLR.de • Chart 1 > Humanoids](https://reader033.vdocuments.net/reader033/viewer/2022042105/5e8303639f4cb05c9847c6b7/html5/thumbnails/25.jpg)
Balancing & Posture ControlCompliant COM control [Hyon & Cheng, 2006]
Trunk orientation Control
)()( dDdPCOM ccKccKMgF
)(),(dR
RHIP DKRVT
),( HIPCOMd TFW Desired wrench:
IMU measurements
dW
extFMg
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 25 [Ott & Roa, Humanoids 2011]
![Page 26: Christian Ott German Aerospace Center (DLR) · Development and Control of Compliant Humanoid Robots at DLR Christian Ott German Aerospace Center (DLR) DLR.de • Chart 1 > Humanoids](https://reader033.vdocuments.net/reader033/viewer/2022042105/5e8303639f4cb05c9847c6b7/html5/thumbnails/26.jpg)
Force distribution: Similar problems!
Grasping & Balancing> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 26
Force distribution: How to realize a desired force/torque on the COM via the available contact points. A similar problem has been solved also in robot grasping by constrained optimization!
[Ott & Roa, Humanoids 2011]
![Page 27: Christian Ott German Aerospace Center (DLR) · Development and Control of Compliant Humanoid Robots at DLR Christian Ott German Aerospace Center (DLR) DLR.de • Chart 1 > Humanoids](https://reader033.vdocuments.net/reader033/viewer/2022042105/5e8303639f4cb05c9847c6b7/html5/thumbnails/27.jpg)
Force distribution
HIPT
COMF
f
fGGWd
1
1
ii
ii Rp
RG
ˆ
3if
Relation between balancing wrench & contact forces
Constraints:• Unilateral contact: (implicit handling of ZMP constraints)• Friction cone constraints
0, zif
Cf
T
F
GG
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 27 [Ott & Roa, Humanoids 2011]
![Page 28: Christian Ott German Aerospace Center (DLR) · Development and Control of Compliant Humanoid Robots at DLR Christian Ott German Aerospace Center (DLR) DLR.de • Chart 1 > Humanoids](https://reader033.vdocuments.net/reader033/viewer/2022042105/5e8303639f4cb05c9847c6b7/html5/thumbnails/28.jpg)
Force distribution
HIPT
COMF
f
fGGWd
1
1
ii
ii Rp
RG
ˆ
3if
Relation between balancing wrench & contact forces
Constraints:• Unilateral contact: (implicit handling of ZMP constraints)• Friction cone constraints
0, zif
Formulation as a constraint optimization problem
Cf
23
22
21minarg CCTHIPCFCOMC ffGTfGFf
T
F
GG
321
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 28 [Ott & Roa, Humanoids 2011]
![Page 29: Christian Ott German Aerospace Center (DLR) · Development and Control of Compliant Humanoid Robots at DLR Christian Ott German Aerospace Center (DLR) DLR.de • Chart 1 > Humanoids](https://reader033.vdocuments.net/reader033/viewer/2022042105/5e8303639f4cb05c9847c6b7/html5/thumbnails/29.jpg)
Contact force control via joint torques
ifMgcM
3if
c
lríiT
i
FqJ
Iu
MgqqCq
cqM
M
, )ˆ(00
0)ˆ,ˆ(ˆ0
ˆ)(ˆ00
iT
i fqJ )ˆ(
Multibody robot model:COM as a base coordinate system structure with decoupled COM dynamics.
[Space Robotics], [Wieber 2005, Hyon et al. 2006]
Passivity based compliance control(well suited for balancing)
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 29 [Ott & Roa, Humanoids 2011]
![Page 30: Christian Ott German Aerospace Center (DLR) · Development and Control of Compliant Humanoid Robots at DLR Christian Ott German Aerospace Center (DLR) DLR.de • Chart 1 > Humanoids](https://reader033.vdocuments.net/reader033/viewer/2022042105/5e8303639f4cb05c9847c6b7/html5/thumbnails/30.jpg)
Experiments using the lower body
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 30
![Page 31: Christian Ott German Aerospace Center (DLR) · Development and Control of Compliant Humanoid Robots at DLR Christian Ott German Aerospace Center (DLR) DLR.de • Chart 1 > Humanoids](https://reader033.vdocuments.net/reader033/viewer/2022042105/5e8303639f4cb05c9847c6b7/html5/thumbnails/31.jpg)
Experiments using whole body
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 31
![Page 32: Christian Ott German Aerospace Center (DLR) · Development and Control of Compliant Humanoid Robots at DLR Christian Ott German Aerospace Center (DLR) DLR.de • Chart 1 > Humanoids](https://reader033.vdocuments.net/reader033/viewer/2022042105/5e8303639f4cb05c9847c6b7/html5/thumbnails/32.jpg)
1) Design & Control of compliant robots Torque Controlled Robots
Elastic Robots
2) Control of humanoid robots Compliant Control
Bipedal Walking
Overview
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 32
![Page 33: Christian Ott German Aerospace Center (DLR) · Development and Control of Compliant Humanoid Robots at DLR Christian Ott German Aerospace Center (DLR) DLR.de • Chart 1 > Humanoids](https://reader033.vdocuments.net/reader033/viewer/2022042105/5e8303639f4cb05c9847c6b7/html5/thumbnails/33.jpg)
Folie 33
Walking Stabilization
c
p
xx ,
)(2 pxx
COMcapturepoint
xp
exp. stableopen loopunstable
(Pratt 2006, Hof 2008)
),(
),(
x
xx
xx
1
)( xx )( p
Template model:
[Englsberger, Ott, IROS 2013]
PAGE 33
![Page 34: Christian Ott German Aerospace Center (DLR) · Development and Control of Compliant Humanoid Robots at DLR Christian Ott German Aerospace Center (DLR) DLR.de • Chart 1 > Humanoids](https://reader033.vdocuments.net/reader033/viewer/2022042105/5e8303639f4cb05c9847c6b7/html5/thumbnails/34.jpg)
Folie 34
Walking Stabilization
c
p
xx ,
)(2 pxx
COMcapturepoint
xp
exp. stable
(Pratt 2006, Hof 2008)
),(
),(
x
xx
xx
1
)( xx )( p
Template model:
CP control
[Englsberger, Ott, IROS 2013]
PAGE 34
![Page 35: Christian Ott German Aerospace Center (DLR) · Development and Control of Compliant Humanoid Robots at DLR Christian Ott German Aerospace Center (DLR) DLR.de • Chart 1 > Humanoids](https://reader033.vdocuments.net/reader033/viewer/2022042105/5e8303639f4cb05c9847c6b7/html5/thumbnails/35.jpg)
Folie 35
COM kinematics
Capture Point Control
xx ,
pCP control
[Englsberger, Ott, et. al., IROS-2011, ICRA-2012, at-2012]
ZMPControl
RobotDynamics
CP
qTrajectoryGenerator d
ZMP projection
MPC [SYROCO 2012]
)( p
PAGE 35
![Page 36: Christian Ott German Aerospace Center (DLR) · Development and Control of Compliant Humanoid Robots at DLR Christian Ott German Aerospace Center (DLR) DLR.de • Chart 1 > Humanoids](https://reader033.vdocuments.net/reader033/viewer/2022042105/5e8303639f4cb05c9847c6b7/html5/thumbnails/36.jpg)
Folie 36
MPC [SYROCO 2012]
COM kinematics
Capture Point Control
xx ,
pCP control
[Englsberger, Ott, et. al., IROS 2011]
ZMPControl
RobotDynamics
CP
qTrajectoryGenerator d
ZMP projection
Collaboration with Nicolas Perrin
PAGE 36
![Page 37: Christian Ott German Aerospace Center (DLR) · Development and Control of Compliant Humanoid Robots at DLR Christian Ott German Aerospace Center (DLR) DLR.de • Chart 1 > Humanoids](https://reader033.vdocuments.net/reader033/viewer/2022042105/5e8303639f4cb05c9847c6b7/html5/thumbnails/37.jpg)
Folie 37
Extension to 3D walking
2D 3D
Capture Point (CP) „Divergent Component of Motion“ (DCM) [Takenaka]
ZMP (steers CP)
Virtual Repellent Point(steers DCM)
COM dynamics:(not a template model)
Fxm
extFmg
DCM dynamics:
[Englsberger, Ott, IROS 2013]
PAGE 37
![Page 38: Christian Ott German Aerospace Center (DLR) · Development and Control of Compliant Humanoid Robots at DLR Christian Ott German Aerospace Center (DLR) DLR.de • Chart 1 > Humanoids](https://reader033.vdocuments.net/reader033/viewer/2022042105/5e8303639f4cb05c9847c6b7/html5/thumbnails/38.jpg)
Folie 38
Extension to 3D walking
2D 3D
Capture Point (CP) „Divergent Component of Motion“ (DCM) [Takenaka]
ZMP (steers CP)
Virtual Repellent Point(steers DCM)
COM dynamics:(not a template model)
Fxm
extFmg
DCM dynamics:
[Englsberger, Ott, IROS 2013]vrpr
PAGE 38
![Page 39: Christian Ott German Aerospace Center (DLR) · Development and Control of Compliant Humanoid Robots at DLR Christian Ott German Aerospace Center (DLR) DLR.de • Chart 1 > Humanoids](https://reader033.vdocuments.net/reader033/viewer/2022042105/5e8303639f4cb05c9847c6b7/html5/thumbnails/39.jpg)
39
CMP
eCMP
Enhanced Centroidal Moment Pivot point (eCMP)
Virtual Repellent Point (VRP)
> Humanoids 2014 > Christian Ott > 18.11.2014
![Page 40: Christian Ott German Aerospace Center (DLR) · Development and Control of Compliant Humanoid Robots at DLR Christian Ott German Aerospace Center (DLR) DLR.de • Chart 1 > Humanoids](https://reader033.vdocuments.net/reader033/viewer/2022042105/5e8303639f4cb05c9847c6b7/html5/thumbnails/40.jpg)
Folie 40
DCM Tracking Control
DCM dynamics Desired closed loop
Tracking control:
Required leg force:
PAGE 40
![Page 41: Christian Ott German Aerospace Center (DLR) · Development and Control of Compliant Humanoid Robots at DLR Christian Ott German Aerospace Center (DLR) DLR.de • Chart 1 > Humanoids](https://reader033.vdocuments.net/reader033/viewer/2022042105/5e8303639f4cb05c9847c6b7/html5/thumbnails/41.jpg)
1) Design & Control of compliant robots Torque Controlled Robots
Elastic Robots
2) Control of humanoid robots Compliant Control
Bipedal Walking
Overview
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 41
![Page 42: Christian Ott German Aerospace Center (DLR) · Development and Control of Compliant Humanoid Robots at DLR Christian Ott German Aerospace Center (DLR) DLR.de • Chart 1 > Humanoids](https://reader033.vdocuments.net/reader033/viewer/2022042105/5e8303639f4cb05c9847c6b7/html5/thumbnails/42.jpg)
Thank you very much
for your attention!
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 42