Whole-Body Torque Control Without Joint Position Control Using Vibration-Suppressed Friction Compensation for Bipedal Locomotion of Gear-Driven Torque Sensorless Humanoid
Takuma Hiraoka,Shimpei Sato,Naoki Hiraoka,Annan Tang,Kunio Kojima,Kei Okada,Masayuki Inaba,Koji Kawasaki,Takuma Hiraoka,Shimpei Sato,Naoki Hiraoka,Annan Tang,Kunio Kojima,Kei Okada,Masayuki Inaba,Koji Kawasaki
Humanoids operate in repeated contact and non-contact with their environment and so the motion of humanoids such as walking on uneven terrain or in a narrow space requires the accurate force and position control. Joint torque control systems are suitable for position and force control, but are prone to friction and other modeling errors. To solve this problem, methods have been proposed to realize...
