The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Fast and Safe Contact Establishment Strategy for Biped Walking Robot

이족 보행 로봇을 위한 빠르고 안전한 접촉 생성 전략

  • Lee, Hosang (Graduate School of Convergence Science and Technology, Seoul National University) ;
  • Jung, Jaesug (Graduate School of Convergence Science and Technology, Seoul National University) ;
  • Ahn, Junewhee (Graduate School of Convergence Science and Technology, Seoul National University) ;
  • Park, Jaeheung (Graduate School of Convergence Science and Technology, Seoul National University, Advanced Institutes of Convergence Technology)
  • Received : 2021.01.12
  • Accepted : 2021.02.26
  • Published : 2021.05.31
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Abstract

One of the most challenging issues when robots interact with the environment is to establish contact quickly and avoid high impact force at the same time. The proposed method implements the passive suspension system using the redundancy of the torque-controlled robot. Instead of utilizing the actual mechanical compliance, the distal joints near the end-effector are controlled to act as a virtual spring-damper system with low feedback gains. The proximal joints are precisely controlled to push the mid-link, which is defined as the boundary link between the proximal and distal joints, towards the environment with high feedback gains. Compared to the active compliance methods, the contact force measurements or estimates are not required for contact establishment and the control time delay problems do not occur correspondingly. The proposed method was applied to the landing foot control of the 12-DoF biped robot DYROS-RED in the simulations. In the results, the impact force during landing was significantly reduced at the same collision speed.

Keywords

Acknowledgement

This work was supported by the Technology Innovation Program (No. 10060081) funded by the Ministry of Trade, Industry & Energy (MI, Korea) and by the National Research Foundation of Korea (NRF) grant funded by the Korea government (MSIT) (No. 2021R1A2C3005914)

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