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A New Motor Controller for Overloading BLDC-Motors of Low Inductivity, Lightweight and Ready for Admittance and Impedance Model Predictive Control

  • One of the challenges in humanoid robotics is motion control. Interacting with humans requires impedance control algorithms, as well as tackling the problem of the closed kinematic chains which occur when both feet touch the ground. However, pure impedance control for totally autonomous robots is difficult to realize, as this algorithm needs very precise sensors for force and speed of the actuatedOne of the challenges in humanoid robotics is motion control. Interacting with humans requires impedance control algorithms, as well as tackling the problem of the closed kinematic chains which occur when both feet touch the ground. However, pure impedance control for totally autonomous robots is difficult to realize, as this algorithm needs very precise sensors for force and speed of the actuated parts, as well as very high sampling rates for the controller input signals. Both requirements lead to a complex and heavy weight design, which makes up for heavy machines unusable in RoboCup Soccer competitions. A lightweight motor controller was developed that can be used for admittance and impedance control as well as for model predictive control algorithms to further improve the gait of the robot.show moreshow less

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Author:Manuel Scharffenberg, Fabian Schnekenburger, Michael WülkerORCiDGND, Ulrich HochbergGND, Nils-Malte JahnGND, Klaus DorerGND
Creating Corporation:IEEE
Place of publication:Birmingham
Year of Publication:2017
Page Number:6
Language:English
Parent Title (English):Proceedings of the 12th Workshop on Humanoid Soccer Robots, 17th IEEE-RAS International Conference on Humanoid Robots
Document Type:Conference Proceeding
Open Access:Frei zugänglich
Institutes:Bibliografie
Release Date:2018/01/19
Licence (German):License LogoEs gilt das UrhG
URN:urn:nbn:de:bsz:ofb1-opus4-26563
URL:http://lofarolabs.com/events/robocup/ws17/papers/Humanoids_RoboCup_Workshop_2017_pape_3.pdf