Design, analysis and control of the series-parallel hybrid RH5 humanoid robot

Last decades of humanoid research has shown that humanoids developed for high dynamic performance require a stiff structure and optimal distribution of mass~ inertial properties. Humanoid robots built with a purely tree type architecture tend to be bulky and usually suffer from velocity and force/to...

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Published in2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids) pp. 400 - 407
Main Authors Eber, Julian, Kumar, Shivesh, Peters, Heiner, Bargsten, Vinzenz, Fernandez, Jose de Gea, Mastalli, Carlos, Stasse, Olivier, Kirchner, Frank
Format Conference Proceeding
LanguageEnglish
Published IEEE 19.07.2021
Subjects
Dynamics
Humanoid robots
PD control
Planning
Position control
Stability analysis
Task analysis
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Summary:Last decades of humanoid research has shown that humanoids developed for high dynamic performance require a stiff structure and optimal distribution of mass~ inertial properties. Humanoid robots built with a purely tree type architecture tend to be bulky and usually suffer from velocity and force/torque limitations. This paper presents a novel series-parallel hybrid humanoid called RH5 which is 2 m tall and weighs only 62.5 kg capable of performing heavy-duty dynamic tasks with 5 kg payloads in each hand. The analysis and control of this humanoid is performed with whole-body trajectory optimization technique based on differential dynamic programming (DDP). Additionally, we present an improved contact stability soft-constrained DDP algorithm which is able to generate physically consistent walking trajectories for the humanoid that can be tracked via a simple PD position control in a physics simulator. Finally, we showcase preliminary experimental results on the RH5 humanoid robot.
ISSN:2164-0580
DOI:10.1109/HUMANOIDS47582.2021.9555770