LARP, biped robotics conceived as human modelling

Authors:
Umberto Scarfogliero;Michele Folgheraiter;Giuseppina Gini
Affiliations:
DEI Department, Politecnico di Milano, Italy;DEI Department, Politecnico di Milano, Italy;DEI Department, Politecnico di Milano, Italy
Venue:
Biomimetic Neural Learning for Intelligent Robots
Year:
2005

Citing 2
Cited 2

Application of Active Force Control and Iterative Learning in a 5-Link Biped Robot

Journal of Intelligent and Robotic Systems
Series elastic actuators

IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 1 - Volume 1

Towards biomimetic neural learning for intelligent robots

Biomimetic Neural Learning for Intelligent Robots
New joint design to create a more natural and efficient biped

Applied Bionics and Biomechanics

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Abstract

This paper presents a human-like control of an innovative biped robot. The robot presents a total of twelve degrees of freedom; each joint resemble the functionalities of the human articulation and is moved by tendons connected with an elastic actuator located in the robot's pelvis. We implemented and tested an innovative control architecture (called elastic-reactive control) that permits to vary the joint stiffness in real time maintaining a simple position-control paradigm. The controller is able to estimate the external load measuring the spring deflection and demonstrated to be particularly robust respect to system uncertainties, such as inertia value changes. Comparing the resulting control law with existing models we found several similarities with the Equilibrium Point Theory.