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Pré-Publication, Document De Travail Année : 2017

Differential Dynamical Programming to control a cable driven actuator for the humanoid robot Romeo

Résumé

Autonomous robots such as legged robots and mobile manipulators imply new challenges in the design and the control of their actuators. In particular, it is desirable that the actuators are back-drivable, efficient (low friction) and compact. In this paper, we report the complete implementation of an advanced actuator based on screw, nut and cable. This actuator has been chosen for the humanoid robot Romeo. A similar model of the actuator has been used to control the humanoid robot Valkyrie. We expose the design of this actuator and present its Lagrangian model. The actuator being flexible, we propose a two-layer optimal control solver based on Differential Dynamical Programming. The actuator design, model identification and control is validated on a full actuator mounted in a work bench. The results show that this type of actuation is very suitable for legged robots and is a good candidate to replace strain wave gears.
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Dates et versions

hal-01494676 , version 1 (23-03-2017)
hal-01494676 , version 2 (22-08-2017)
hal-01494676 , version 3 (25-05-2018)

Identifiants

  • HAL Id : hal-01494676 , version 1

Citer

Florent Forget, Kevin Giraud-Esclasse, Rodolphe Gelin, Nicolas Mansard, Olivier Stasse. Differential Dynamical Programming to control a cable driven actuator for the humanoid robot Romeo . 2017. ⟨hal-01494676v1⟩
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