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Computer Science > Robotics

arXiv:2210.00961 (cs)
[Submitted on 3 Oct 2022]

Title:Control and Evaluation of a Humanoid Robot with Rolling Contact Knees

Authors:Seung Hyeon Bang, Carlos Gonzalez, Junhyeok Ahn, Nicholas Paine, Luis Sentis
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Abstract:In this paper, we introduce the humanoid robot DRACO 3 by providing a high-level description of its design and control. This robot features proximal actuation and mechanical artifacts to provide a high range of hip, knee and ankle motion. Its versatile design brings interesting problems as it requires a more elaborate control system to perform its motions. For this reason, we introduce a whole body controller (WBC) with support for rolling contact joints and show how it can be easily integrated into our previously presented open-source Planning and Control (PnC) framework. We then validate our controller experimentally on DRACO 3 by showing preliminary results carrying out two postural tasks. Lastly, we analyze the impact of the proximal actuation design and show where it stands in comparison to other adult-size humanoids.
Subjects: Robotics (cs.RO)
Cite as: arXiv:2210.00961 [cs.RO]
  (or arXiv:2210.00961v1 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2210.00961

Submission history

From: Seung Hyeon Bang [view email]
[v1] Mon, 3 Oct 2022 14:23:16 UTC (5,145 KB)
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