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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 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.