A backdrivable or force-controllable actuator is one of the key elements needed to develop a humanoid capable of interacting with humans. Recently, we developed the humanoid Hydra using electro hydrostatic actuators, which have high backdrivability and force sensitivity. Moreover, one of the authors proposed resolved viscoelasticity control (RVC) approach, which achieves robust balance control by transforming task-space viscoelasticity into joint viscoelasticity. However, the RVC was validated only through forward dynamics simulation. Therefore, in this study, experimental validation of the RVC method using Hydra was achieved. Further, robust standing balance control was realized in the experiments.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Experimental Validation of Resolved Viscoelasticity Control on Hydrostatically Driven Humanoid Hydra


    Additional title:

    Springer Proceedings in Advanced Robotics


    Contributors:

    Conference:

    International Symposium on Experimental Robotics ; 2018 ; Buenos Aires, Argentina November 05, 2018 - November 08, 2018



    Publication date :

    2020-01-23


    Size :

    10 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    Experimental Validation of Resolved Viscoelasticity Control on Hydrostatically Driven Humanoid Hydra

    Yamamoto, Ko / Ko, Tianyi / Murotani, Kazuya et al. | TIBKAT | 2020


    ENGINE LOAD CONTROL FOR HYDROSTATICALLY DRIVEN EQUIPMENT

    KUCHAR GEORGE J / HELFRICH JIM C | European Patent Office | 2015

    Free access

    Hydrostatically-driven multifunctional snow removal truck

    YIN GUANGYU / CHEN JUNJUN / SHEN YUTAO et al. | European Patent Office | 2023

    Free access

    Modelling and control of handling dynamics for a hydrostatically driven vehicle

    Sill, Justin / Molla, Sisay / Ayalew, Beshah | Tema Archive | 2011


    Modelling and control of handling dynamics for a hydrostatically driven vehicle

    Sill,J. / Molla,S. / Ayalew,B. et al. | Automotive engineering | 2011