A two-stage suboptimal approximation for variable compliance and torque control

P. Geoffroy, O. Bordron, N. Mansard, M. Raison, O. Stasse, T. Bretl

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Variable-stiffness actuator is a very appealing mechatronic design that combines the efficiency of stiff actuator in free space with the consistency of elastic actuation in contact. The control of such an actuation system remains a challenge due to its non-linearity and by the fact that it doubles the number of control inputs. In this paper, we propose an original control strategy to compute the whole-body movement of a complex variable-stiffness robot during dynamic task execution. Operational space control is first used to compute both the joint torque and stiffness from operational references. A non-linear model-predictive controller is then proposed to track at higher frequency these references on each joint separately. The effectiveness of this approach is then validated on two models of real actuator with adjustable stiffness, and finally on an explosive motion to make a humanoid robot jump.

Original languageEnglish (US)
Title of host publication2014 European Control Conference, ECC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1151-1157
Number of pages7
ISBN (Electronic)9783952426913
DOIs
StatePublished - Jul 22 2014
Event13th European Control Conference, ECC 2014 - Strasbourg, France
Duration: Jun 24 2014Jun 27 2014

Publication series

Name2014 European Control Conference, ECC 2014

Other

Other13th European Control Conference, ECC 2014
Country/TerritoryFrance
CityStrasbourg
Period6/24/146/27/14

ASJC Scopus subject areas

  • Control and Systems Engineering

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