The 2010 IEEE/RSJ International Conference on Intelligent RObots and Systems, Taipei International Convention Center, Taipei, Taiwan, October 18-22, 2010

IROS 2010 Paper Abstract


Paper WeAT5.5

Khan, Said Ghani (University of West England, Bristol, UK), Herrmann, Guido (University of Bristol), Pipe, Tony (Bristol Robotics Laboratory), Melhuish, Chris (BRL)

Adaptive Multi-Dimensional Compliance Control of a Humanoid Robotic Arm with Anti-Windup Compensation

Scheduled for presentation during the Regular Sessions "Humanoid Robots IV" (WeAT5), Wednesday, October 20, 2010, 10:50−11:10, 103

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 18-22, 2010, Taipei International Convention Center, Taipei, Taiwan

This information is tentative and subject to change. Compiled on October 18, 2019

Keywords Humanoid Robots, Adaptive Control, Force Control


An adaptive multi-dimensional compliance model reference controller was implemented in real-time on a 4 degrees of freedom (DOF) of the humanoid Bristol-Elumotion-Robotic-Torso II (BERT II) arm in Cartesian space. The robot manipulator has been controlled in such a way as to follow the compliant passive behaviour of a reference mass-spring-damper system model subject to externally sensed forces/torques in all DOF. The relevant reference model converts all measured torques into their equivalent forces at the end-effector and reacts accordingly. The suggested control scheme takes in particular account of the multi-variable aspect and the problem of body own torques when measuring external torques. The redundant DOF were used to control the robot motion in a human-like pattern via effort minimization. Associated actuator saturation issues were addressed by incorporating a novel anti-windup (AW) compensator.



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