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Authors: Florent Forget 1 ; Kevin Giraud-Esclasse 1 ; Rodolphe Gelin 2 ; Nicolas Mansard 1 and Olivier Stasse 1

Affiliations: 1 LAAS-CNRS, France ; 2 Softbank Robotics Europe, France

ISBN: 978-989-758-321-6

Keyword(s): Actuation, Humanoids.

Related Ontology Subjects/Areas/Topics: Humanoid Robots ; Informatics in Control, Automation and Robotics ; Mechatronics Systems ; Robot Design, Development and Control ; Robotics and Automation

Abstract: 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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Paper citation in several formats:
Forget, F.; Giraud-Esclasse, K.; Gelin, R.; Mansard, N. and Stasse, O. (2018). Implementation, Identification and Control of an Efficient Electric Actuator for Humanoid Robots.In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-321-6, pages 29-38. DOI: 10.5220/0006825500390048

@conference{icinco18,
author={Florent Forget. and Kevin Giraud{-}Esclasse. and Rodolphe Gelin. and Nicolas Mansard. and Olivier Stasse.},
title={Implementation, Identification and Control of an Efficient Electric Actuator for Humanoid Robots},
booktitle={Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2018},
pages={29-38},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006825500390048},
isbn={978-989-758-321-6},
}

TY - CONF

JO - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Implementation, Identification and Control of an Efficient Electric Actuator for Humanoid Robots
SN - 978-989-758-321-6
AU - Forget, F.
AU - Giraud-Esclasse, K.
AU - Gelin, R.
AU - Mansard, N.
AU - Stasse, O.
PY - 2018
SP - 29
EP - 38
DO - 10.5220/0006825500390048

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