Impact motion control of humanoid robot BHR-5 based on the energy integral method
To replace human beings for a task conducted in a realistic environment, the ability to perform impact motions such as running, jumping, and carrying is required for a humanoid robot. At present, it is quite difficult for the humanoid robot to achieve the motion performance of human beings. To addre...
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doaj-ea5d670d8f5047aaaf789aa3829e03b32020-11-25T02:58:20ZengSAGE PublishingAdvances in Mechanical Engineering1687-81402016-01-01810.1177/168781401562602410.1177_1687814015626024Impact motion control of humanoid robot BHR-5 based on the energy integral methodFei Meng0Xiaopeng Chen1Zhangguo Yu2Xuechao Chen3Mingliang Zhou4Qiang Huang5Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, ChinaKey Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing Institute of Technology, Beijing, ChinaKey Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing Institute of Technology, Beijing, ChinaKey Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing Institute of Technology, Beijing, ChinaIntelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, ChinaKey Laboratory of Intelligent Control and Decision of Complex Systems, Beijing Institute of Technology, Beijing, ChinaTo replace human beings for a task conducted in a realistic environment, the ability to perform impact motions such as running, jumping, and carrying is required for a humanoid robot. At present, it is quite difficult for the humanoid robot to achieve the motion performance of human beings. To address this issue, this article proposes to use a novel impact motion control method for a humanoid robot called BHR-5 using energy integral method. First, we have designed a high power density joint controller to drive each brushless motor to actuate each robot joint. The joint controller can generate sufficient power to actuate the robot joint with an instantaneous overload when limiting the input power in a unit interval. Second, the control system can generate trajectories to realize impact motion by integrating the energy of the whole body. Finally, we have conducted performance test on BHR-5 to verify the control method using our motor drivers and trajectory generation method. Analysis of the experimental results confirmed the effectiveness of the proposed control method for performing impact motions.https://doi.org/10.1177/1687814015626024 |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Fei Meng Xiaopeng Chen Zhangguo Yu Xuechao Chen Mingliang Zhou Qiang Huang |
spellingShingle |
Fei Meng Xiaopeng Chen Zhangguo Yu Xuechao Chen Mingliang Zhou Qiang Huang Impact motion control of humanoid robot BHR-5 based on the energy integral method Advances in Mechanical Engineering |
author_facet |
Fei Meng Xiaopeng Chen Zhangguo Yu Xuechao Chen Mingliang Zhou Qiang Huang |
author_sort |
Fei Meng |
title |
Impact motion control of humanoid robot BHR-5 based on the energy integral method |
title_short |
Impact motion control of humanoid robot BHR-5 based on the energy integral method |
title_full |
Impact motion control of humanoid robot BHR-5 based on the energy integral method |
title_fullStr |
Impact motion control of humanoid robot BHR-5 based on the energy integral method |
title_full_unstemmed |
Impact motion control of humanoid robot BHR-5 based on the energy integral method |
title_sort |
impact motion control of humanoid robot bhr-5 based on the energy integral method |
publisher |
SAGE Publishing |
series |
Advances in Mechanical Engineering |
issn |
1687-8140 |
publishDate |
2016-01-01 |
description |
To replace human beings for a task conducted in a realistic environment, the ability to perform impact motions such as running, jumping, and carrying is required for a humanoid robot. At present, it is quite difficult for the humanoid robot to achieve the motion performance of human beings. To address this issue, this article proposes to use a novel impact motion control method for a humanoid robot called BHR-5 using energy integral method. First, we have designed a high power density joint controller to drive each brushless motor to actuate each robot joint. The joint controller can generate sufficient power to actuate the robot joint with an instantaneous overload when limiting the input power in a unit interval. Second, the control system can generate trajectories to realize impact motion by integrating the energy of the whole body. Finally, we have conducted performance test on BHR-5 to verify the control method using our motor drivers and trajectory generation method. Analysis of the experimental results confirmed the effectiveness of the proposed control method for performing impact motions. |
url |
https://doi.org/10.1177/1687814015626024 |
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