Momentum Control of Humanoid Robots with Series Elastic Actuators [article]

Gabriele Nava, Daniele Pucci, Francesco Nori
2017 arXiv   pre-print
Humanoid robots may require a degree of compliance at the joint level for improving efficiency, shock tolerance, and safe interaction with humans. The presence of joint elasticity, however, complexifies the design of balancing and walking controllers. This paper proposes a control framework for extending momentum based controllers developed for stiff actuators to the case of series elastic actuators. The key point is to consider the motor velocities as an intermediate control input, and then
more » ... ly high-gain control to stabilise the desired motor velocities achieving momentum control. Simulations carried out on a model of the robot iCub verify the soundness of the proposed approach.
arXiv:1703.01882v1 fatcat:wy6twjof5jbwja4qvinhnkf6dq