scholarly journals The Effects of Torque Magnitude and Stiffness in Arm Guidance through Joint Torque Feedback

IEEE Access ◽  
2022 ◽  
pp. 1-1
Author(s):  
Hubert Kim ◽  
Alan T. Asbeck
Keyword(s):  
Joint Torque ◽  
Joint Torque Feedback

Balance Recovery based on Whole-Body Control using Joint Torque Feedback for Quadrupedal Robots

2021 ◽  
pp. 1-18
Author(s):  
Young Hun Lee ◽  
Hyunyong Lee ◽  
Hansol Kang ◽  
Jun Hyuk Lee ◽  
Ji Man Park ◽  
...  
Keyword(s):  
Force Feedback ◽  
Center Of Mass ◽  
Legged Locomotion ◽  
Joint Torque ◽  
Whole Body ◽  
External Disturbances ◽  
Feed Forward ◽  
The Moment ◽  
Joint Torque Feedback ◽  
Capture Point

Abstract In legged locomotion, the contact force between a robot and the ground plays a crucial role in balancing the robot. However, in quadrupedal robots, general whole-body controllers generate feed-forward force commands without considering the actual torque or force feedback. This paper presents a whole-body controller by using the actual joint torque measured from a torque sensor, which enables the quadrupedal robot to demonstrate both dynamic locomotion and reaction to external disturbances. We compute external joint torque using the measured joint torque and the robot's dynamics, and then transform this to the moment of the center of mass (CoM). Using the computed CoM moment, the moment-based impedance controller distributes a feed-forward force corresponding to the desired moment of the CoM to stabilize the robot's balance. Furthermore, to recover balance, the CoM motion is generated using capture point-based stepping control and zero moment point trajectory. The proposed whole-body controller was tested on a quadrupedal robot, named AiDIN-VI. Locomotive abilities on uneven terrains and slopes and in the presence of external disturbances are verified through experiments.

On compliance and safety with torque-control for robots with high reduction gears and no joint-torque feedback

2021 ◽  
Author(s):  
Mehdi Benallegue ◽  
Rafael Cisneros ◽  
Abdelaziz Benallegue ◽  
Arnaud Tanguy ◽  
Adrien Escande ◽  
...  
Keyword(s):  
Torque Control ◽  
Joint Torque ◽  
High Reduction ◽  
Joint Torque Feedback

Force Control of Manipulators Based on H∞ Controller (Application of Joint Torque Feedback)

1995 ◽  
Vol 7 (5) ◽  
pp. 410-418 ◽  
Author(s):  
Guoguang Zhang ◽  
◽  
Junji Furusho ◽  
Akihito Sano ◽  
Keyword(s):  
Control System ◽  
Force Control ◽  
Position Control ◽  
High Gain ◽  
Joint Torque ◽  
Joint Position ◽  
Modeling Error ◽  
Nominal Model ◽  
Force Control System ◽  
Joint Torque Feedback

Force control using a hierarchical structure is discussed, which consists of upper force control and lower joint position control. The force controller calculators the joint position corrections necessary to control the force in the desired manner. These correction signals from the force controller are output to the lower controller and added to the nominal joint position command. In this paper, we apply mixed sensitivity design of H∞ control theory to a force control system. The nominal model is discussed, and the robustness against modeling error is analyzed. Owing to joint torque feedback control, the change of the controlled plant is reduced, so high gain force control can be achieved. Experimental results and eigenvalue analysis are also presented.

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