TY - GEN
T1 - Facilitating Model-Based Control Through Software-Hardware Co-Design
AU - Ramos, Joao
AU - Katz, Benjamin
AU - Chuah, Meng Yee Michael
AU - Kim, Sangbae
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/9/10
Y1 - 2018/9/10
N2 - This paper exemplifies the design process for legged machines capable of dynamic behaviors. In order to achieve high performance robots, it is crucial to guarantee harmonious integration between software and hardware. Hence, the development of such capable robotic platforms must address design requirements that meet the assumptions of typical model-based controllers but also respect the physical limitations of a real system. First, we show that proper hardware design choices can greatly aid the control algorithm by approximating the physical robot to the template assumptions. We include actuation and sensing design examples that allows a simple model to capture a major portion of the natural dynamic behavior of the physical machine. Results are applied to a real robot (Figure 1) and we show that the adopted methodology is able to address typical problems in legged robots such as high bandwidth force control and robustness to impact. Finally, a simple model-based balance controller that takes advantage of the fidelity of the template model to the real machine is implemented. These are examples of software-hardware codesign processes that vastly facilitate robotic control.
AB - This paper exemplifies the design process for legged machines capable of dynamic behaviors. In order to achieve high performance robots, it is crucial to guarantee harmonious integration between software and hardware. Hence, the development of such capable robotic platforms must address design requirements that meet the assumptions of typical model-based controllers but also respect the physical limitations of a real system. First, we show that proper hardware design choices can greatly aid the control algorithm by approximating the physical robot to the template assumptions. We include actuation and sensing design examples that allows a simple model to capture a major portion of the natural dynamic behavior of the physical machine. Results are applied to a real robot (Figure 1) and we show that the adopted methodology is able to address typical problems in legged robots such as high bandwidth force control and robustness to impact. Finally, a simple model-based balance controller that takes advantage of the fidelity of the template model to the real machine is implemented. These are examples of software-hardware codesign processes that vastly facilitate robotic control.
UR - http://www.scopus.com/inward/record.url?scp=85062272340&partnerID=8YFLogxK
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U2 - 10.1109/ICRA.2018.8460575
DO - 10.1109/ICRA.2018.8460575
M3 - Conference contribution
AN - SCOPUS:85062272340
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 566
EP - 572
BT - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Y2 - 21 May 2018 through 25 May 2018
ER -