Open Access

Manuel Scharffenberg, Fabian Schnekenburger, Michael Wülker, Ulrich Hochberg, Nils-Malte Jahn, Klaus Dorer

• 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.…