脚式移動研究のためのオープンなトルク制御モジュラーロボットアーキテクチャ
An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research
低コスト・低複雑性のアクチュエータモジュールと足底接触センサを開発し、それらを組み合わせた2.2kgの四脚ロボットを構築。力制御とインピーダンス制御を活かした運動制御手法を実証した。
著者: Felix Grimminger, Avadesh Meduri, Majid Khadiv, Julian Viereck, Manuel Wüthrich, Maximilien Naveau, Vincent Berenz, Steve Heim, Felix Widmaier, Thomas Flayols, Jonathan Fiene, Alexander Badri-Spröwitz, Ludovic Righetti
分類: cs.RO
原文アブストラクト
We present a new open-source torque-controlled legged robot system, with a low-cost and low-complexity actuator module at its core. It consists of a high-torque brushless DC motor and a low-gear-ratio transmission suitable for impedance and force control. We also present a novel foot contact sensor suitable for legged locomotion with hard impacts. A 2.2 kg quadruped robot with a large range of motion is assembled from eight identical actuator modules and four lower legs with foot contact sensors. Leveraging standard plastic 3D printing and off-the-shelf parts results in a lightweight and inexpensive robot, allowing for rapid distribution and duplication within the research community. We systematically characterize the achieved impedance at the foot in both static and dynamic scenarios, and measure a maximum dimensionless leg stiffness of 10.8 without active damping, which is comparable to the leg stiffness of a running human. Finally, to demonstrate the capabilities of the quadruped, we present a novel controller which combines feedforward contact forces computed from a kino-dynamic optimizer with impedance control of the center of mass and base orientation. The controller can regulate complex motions while being robust to environmental uncertainty.
