Embedded joint-space control of a series elastic humanoid

@article{Hopkins2015EmbeddedJC,
  title={Embedded joint-space control of a series elastic humanoid},
  author={Michael A. Hopkins and Stephen A. Ressler and Derek F. Lahr and Alexander Leonessa and Dennis W. Hong},
  journal={2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2015},
  pages={3358-3365}
}
This paper provides an overview of the embedded joint-space control approach developed for THOR, a new series elastic humanoid. The 60 kg robot features electromechanical linear series elastic actuators (SEAs), enabling low-impedance control of each joint in the lower body via linear to rotary and parallel mechanisms. We present a distributed joint impedance control framework that leverages a custom dual-axis motor controller to track position, velocity, and torque setpoints for each pair of… CONTINUE READING

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