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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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Metadaten
Document Type:Conference Proceeding
Conference Type:Konferenzartikel
Zitierlink: https://opus.hs-offenburg.de/2656
Bibliografische Angaben
Title (English):A New Motor Controller for Overloading BLDC-Motors of Low Inductivity, Lightweight and Ready for Admittance and Impedance Model Predictive Control
Conference:12th Workshop on Humanoid Soccer Robots at 17th IEEE-RAS International Conference on Humanoid Robots, Birmingham, UK, November 15th, 2017
Author:Manuel ScharffenbergStaff MemberGND, Fabian SchnekenburgerStaff MemberGND, Michael WülkerStaff MemberORCiDGND, Ulrich HochbergStaff MemberGND, Nils-Malte JahnStaff MemberGND, Klaus DorerStaff MemberORCiDGND
Year of Publication:2017
Creating Corporation:IEEE
Place of publication:Birmingham
Page Number:6
Parent Title (English):Proceedings of the 12th Workshop on Humanoid Soccer Robots, 17th IEEE-RAS International Conference on Humanoid Robots
URL:http://lofarolabs.com/events/robocup/ws17/papers/Humanoids_RoboCup_Workshop_2017_pape_3.pdf
URN:https://urn:nbn:de:bsz:ofb1-opus4-26563
Language:English
Inhaltliche Informationen
Institutes:Fakultät Maschinenbau und Verfahrenstechnik (M+V)
Institutes:Bibliografie
Projekte / Sweaty
Formale Angaben
Open Access: Open Access 
Licence (German):License LogoUrheberrechtlich geschützt