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Experimental Validation of Resolved Viscoelasticity Control on Hydrostatically Driven Humanoid Hydra

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Proceedings of the 2018 International Symposium on Experimental Robotics (ISER 2018)

Part of the book series: Springer Proceedings in Advanced Robotics ((SPAR,volume 11))

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Abstract

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.

This work was partially supported by New Energy and Industrial Technology Development Organization (NEDO) the International R&D and Demonstration Project on Robotic Field/Research and Development of Disaster-Response Robot Open Platform (FY2014-FY2015), NEDO Core Technology Development of Next Generation Robots, Innovative Robot Element Technology, “Field Actuation Technology using Compact Hydraulic Actuators and Fuel Cell/Rechargeable Battery Hybrid Power Supply”, and JSPS KAKENHI Grant Number 18K19802.

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Authors and Affiliations

  1. University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-8656, Japan

    Ko Yamamoto, Tianyi Ko, Kazuya Murotani & Yoshihiko Nakamura

Authors
  1. Ko Yamamoto
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  2. Tianyi Ko
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  3. Kazuya Murotani
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  4. Yoshihiko Nakamura
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Corresponding author

Correspondence to Ko Yamamoto .

Editor information

Editors and Affiliations

  1. Robotics Engineering, Worcester Polytechnic Institute, Worcester, MA, USA

    Jing Xiao

  2. Karlsruhe Institute of Technology, Karlsruhe, Baden-Württemberg, Germany

    Torsten Kröger

  3. Department of Computer Science, Stanford University, Stanford, CA, USA

    Oussama Khatib

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Yamamoto, K., Ko, T., Murotani, K., Nakamura, Y. (2020). Experimental Validation of Resolved Viscoelasticity Control on Hydrostatically Driven Humanoid Hydra. In: Xiao, J., Kröger, T., Khatib, O. (eds) Proceedings of the 2018 International Symposium on Experimental Robotics. ISER 2018. Springer Proceedings in Advanced Robotics, vol 11. Springer, Cham. https://doi.org/10.1007/978-3-030-33950-0_53

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