Anas AMMOUNAH

Samer ALFAYAD, Stephane DELAPLACE, Sami TLIBA

Université Paris-Saclay

Meet-up 2019 | Doctorants & Industrie

Mechatronics Control System Architecture for Humanoid RobotDynamic study Servo-valve driver

ED: Sciences et Technologies de l'Information et de la CommunicationUniversité Paris SaclayAnas AMMOUNAH

Contacts :

1. CONTEXT

2. RESEARCH QUESTION

3. THE NEED

4. POWER STAGE and TRANSFER FUNCTION

5. RESULTS

6. FUTURE WORK

REFERENCES[1] Type 30 Nozzle-Flapper Flow Control Servo-Valves, Corporate Headquarters - Moog Inc., East Aurora, New York 14052-0018.[2] S. Caron, A. Kheddar, O. Tempier. Stair Climbing Stabilization of the HRP-4Humanoid Robot using Whole-body Admittance Control. IEEE International Conference on Roboticsand Automation, May 2019, Montréal, France.

Mechatronics development of humanoid robotsis one of the key challenges where we have hardconstrains on both software and hardware usedin the mechatronics control system architectureof the humanoid robot. Hydraulic robots likeHYDROïD have additional challenges because ofthe complex hydraulic systems and thecharacteristics of servo-valve driving. We focusin this poster on the power amplifier stage ofthe servo-valve driver and the dynamic behavior.

We should use current control signal, and wepropose current source configuration with highvoltage supply,

the transfer functionis given by thefollowing equation:

The dynamics of humanoid robots is very high,for example, electrical robots like HRP4 robotperform a whole body control loop of 5ms whilethe local control loop perform at 1 kHz. Thehydraulic control system is based on servo-valve.Commercial servo-valve do not provide quickresponse for high-inductance servo-valves. Inaddition, such drivers are bulky and cannot beembedded on humanoid robots.

The need is to develop one customized driver todrive multiple servo-valves of the robot. Thecase study is Moog 30 series servo-valve, theelectrical model of this servo-valve is R-L model(R=1 kOhm , L=3.2 Henry). The natural stepresponse time is 10ms when using a voltagecontrol signal or commercial driver, thisperformance is not enough for humanoid robot.

We present dynamic performance of the presentedpower amplifier using different supply voltage. Wecompare it with commercial driver (orange curve).

Our future objective is to apply this approach on thewhole robot and integrate it with the otherelements of the system architecture including thereal-time software and the sensors. Then we applyhighly dynamic movement.