christian ott german aerospace center (dlr) · development and control of compliant humanoid robots...
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Development and Control of Compliant HumanoidRobots at DLRChristian OttGerman Aerospace Center (DLR)
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 1
1) Design & Control of compliant robots Torque Controlled Robots
Elastic Robots
2) Control of humanoid robots Compliant Control
Bipedal Walking
Overview
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 2
τq
Motor
Elasticity
Segment
m
m
ext
qKB
qKqgqqqCqqM
)(
)()(),()(
Robot Model with Torque Sensors> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 3
τq
Motor
Elasticity
Segment
m
Joint torquesensor
Light-weight robotwith elastic joints
Movementaccuracy
activevibration damping
Safe human-robot-interaction
compliancecontrol
collisionreaction
Disturbance ObserverIdentification
Advantages of Torque Sensing
Torque Control
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 4
τq
Motor
Elasticity
Segment
m
Joint torquesensor
Light-weight robotwith elastic joints
Movementaccuracy
activevibration damping
Safe human-robot-interaction
compliancecontrol
collisionreaction
Disturbance ObserverIdentification
Advantages of Torque Sensing
Torque Control
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 5
τq
Motor
Elasticity
Segment
m
Joint torquesensor
Light-weight robotwith elastic joints
Movementaccuracy
activevibration damping
Safe human-robot-interaction
compliancecontrol
collisionreaction
Disturbance ObserverIdentification
Advantages of Torque Sensing
Torque Control
fm
qfext
B
qgqqqCqqM
,)(),()(
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 6
τq
Motor
Elasticity
Segment
m
Joint torquesensor
Light-weight robotwith elastic joints
Movementaccuracy
activevibration damping
Safe human-robot-interaction
compliancecontrol
collisionreaction
Disturbance ObserverIdentification
Advantages of Torque Sensing
Torque Control
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 7
Compliant ManipulationJoint torque sensing & control for manipulation
Robustness: Passivity Based Control
Performance:Joint Torque Feedback
(noncollocated)
MotorDynamics
Rigid-BodyDynamics
TorqueControl
Environ-ment
ComplianceControl
extq
um
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 8 [Ott & Albu-Schäffer, TRO 2008]
Compliant ManipulationJoint torque sensing & control for manipulation
Robustness: Passivity Based Control
Performance:Joint Torque Feedback
(noncollocated)
MotorDynamics
Rigid-BodyDynamics
TorqueControl
Environ-ment
ComplianceControl
extq
um
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 9
)(q
)(q
qqV
ext
)(Equilibrium:
Compensation of the static effects of K Allows to fulfill requirements on the link side accuracy! Computation of by contraction analysis!
extqKqg )()(
)(q
[Ott & Albu-Schäffer, TRO 2008]
Compliant Manipulation
Robustness: Passivity Based Control
Performance:Joint Torque Feedback
(noncollocated)
MotorDynamics
Rigid-BodyDynamics
TorqueControl
Environ-ment
ComplianceControl
extq
um
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 10
)(q
[Ott & Albu-Schäffer, TRO 2008]
11> Humanoids 2014 > Christian Ott > 18.11.2014
Folie 12
Humanoid Robots at DLR
Anthropomorphic Hand-Arm System
Legged HumanoidJoint torque sensing & control
Bimanual (Humanoid) Manipulation
• Compliant actuation
• Antagonistic actuation for fingers
• Variable stiffness actuation in arm
• Robustness to shocks and impacts
Space Qualified Joint Technology
ROKVISS
PAGE 12
• Antropomorphic design: Size, kinematics, force and dynamics of human arm and hand
• Actuation principle: Variable stiffness in all joints (3 types)
• 27 DoF• 50 motors• 108 position sensors
Antropomorphic Hand/Arm System
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 13
Antagonistic finger actuationTendon driven fingers
4 x FloatingSpring Joint
3 x BAVS (Bi‐directionalantagonism)
20 x Antagonistic
[Grebenstein, Albu-Schäffer et al, ICRA 2011]
Floating Spring Joint (4 DoF)• big motor for positioning • small motor to change stiffness • one single spring
Bidirectional Antagonism with Variable Stiffness Actuation (3 DoF)
• 2 equivalent motors • asymmetric cam disc shape• redundant joint actuation
Antagonism (20 DoF Hand): • 2 equivalent motors • in-tendon progressive spring
mechanism
Types of actuation
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 14
Motivation for physical compliance
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 15
Robustness Performance
1) Modal decoupling (link side)
2) Use torque feedback to achievedecoupling in M, K, and B
3) SISO design in decoupled coordinates
Control Challenges: Vibration Damping
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 16
m
ext
qKB
qKqgqqqCqqM
)(
)()(),()(
[Petit, Albu-Schäffer, ICRA 2011]
uBBBBI ddm11
1
1
QQK
QMQMT
QT
KMBd
0,0 QM
qQQ
q 1
1
1) Modal Decoupling (link side)
2) Use torque feedback to achievedecoupling in M, K, and B
3) SISO design in decoupled coordinates
Control Challenges: Vibration Damping
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 17
m
ext
qKB
qKqgqqqCqqM
)(
)()(),()(
[Petit, Albu-Schäffer, ICRA 2011]
uBBBBI ddm11
1
1
QQK
QMQMT
QT
KMBd
0,0 QM
qQQ
q 1
1
Compliance ( ) given as a seriesinterconnection of active and passive stiffnesselements
1) Use physical springs in the joints to set desiredstiffness as close as possible
2) Use active compliance to realize precise Cartesiancompliance
solve a matrix nearness problem
Control Challenges: Stiffness Design
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 18
pa CCC
1 KC
pdes CC min
0withmin aapdes CCCC
[Petit, Albu-Schäffer, IROS 2011]
Utilizes variabilityof the stiffness!
1) Design & Control of compliant robots Torque Controlled Robots
Elastic Robots
2) Control of humanoid robots Compliant Control
Bipedal Walking
Overview
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 19
Bipedal Walking Robots at DLR
DLR-Biped(2010-2012)
TORO, preliminary version (2012)
TORO (2013)TOrque controlled humanoid RObot
• Joint torque sensing & control
• Small foot size: 19 x 9,5 cm
• IMU in head & trunk
• FTS in feet for position based control
• Sensorized head (stereo vision & kinect)
• Simple prosthetic hands (iLIMB)
[Ott
et a
l, H
uman
oids
2010
]
[Eng
lsbe
rger
et a
l, H
uman
oids
2014
]
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 20
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 21
Motivation for compliant control
completely stiff fully compliantcompliant control
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 22
Balancing & Posture Control
Trunk orientation Control
)()( dDdPCOM ccKccKMgF
Mg
extF
COMF
HIPT
)3(SOR
)(),(dR
RHIP DKRVT
extT
c
IMU measurements
Compliant COM control [Hyon & Cheng, 2006]
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 23 [Ott & Roa, Humanoids 2011]
Balancing & Posture ControlCompliant COM control [Hyon & Cheng, 2006]
Trunk orientation Control
)()( dDdPCOM ccKccKMgF
Mg
extF
COMF
HIPT
)3(SOR
)(),(dR
RHIP DKRVT
extT
),( HIPCOMd TFW Desired wrench:
IMU measurements
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 24 [Ott & Roa, Humanoids 2011]
Balancing & Posture ControlCompliant COM control [Hyon & Cheng, 2006]
Trunk orientation Control
)()( dDdPCOM ccKccKMgF
)(),(dR
RHIP DKRVT
),( HIPCOMd TFW Desired wrench:
IMU measurements
dW
extFMg
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 25 [Ott & Roa, Humanoids 2011]
Force distribution: Similar problems!
Grasping & Balancing> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 26
Force distribution: How to realize a desired force/torque on the COM via the available contact points. A similar problem has been solved also in robot grasping by constrained optimization!
[Ott & Roa, Humanoids 2011]
Force distribution
HIPT
COMF
f
fGGWd
1
1
ii
ii Rp
RG
ˆ
3if
Relation between balancing wrench & contact forces
Constraints:• Unilateral contact: (implicit handling of ZMP constraints)• Friction cone constraints
0, zif
Cf
T
F
GG
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 27 [Ott & Roa, Humanoids 2011]
Force distribution
HIPT
COMF
f
fGGWd
1
1
ii
ii Rp
RG
ˆ
3if
Relation between balancing wrench & contact forces
Constraints:• Unilateral contact: (implicit handling of ZMP constraints)• Friction cone constraints
0, zif
Formulation as a constraint optimization problem
Cf
23
22
21minarg CCTHIPCFCOMC ffGTfGFf
T
F
GG
321
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 28 [Ott & Roa, Humanoids 2011]
Contact force control via joint torques
ifMgcM
3if
c
lríiT
i
FqJ
Iu
MgqqCq
cqM
M
, )ˆ(00
0)ˆ,ˆ(ˆ0
ˆ)(ˆ00
iT
i fqJ )ˆ(
Multibody robot model:COM as a base coordinate system structure with decoupled COM dynamics.
[Space Robotics], [Wieber 2005, Hyon et al. 2006]
Passivity based compliance control(well suited for balancing)
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 29 [Ott & Roa, Humanoids 2011]
Experiments using the lower body
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 30
Experiments using whole body
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 31
1) Design & Control of compliant robots Torque Controlled Robots
Elastic Robots
2) Control of humanoid robots Compliant Control
Bipedal Walking
Overview
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 32
Folie 33
Walking Stabilization
c
p
xx ,
)(2 pxx
COMcapturepoint
xp
exp. stableopen loopunstable
(Pratt 2006, Hof 2008)
),(
),(
x
xx
xx
1
)( xx )( p
Template model:
[Englsberger, Ott, IROS 2013]
PAGE 33
Folie 34
Walking Stabilization
c
p
xx ,
)(2 pxx
COMcapturepoint
xp
exp. stable
(Pratt 2006, Hof 2008)
),(
),(
x
xx
xx
1
)( xx )( p
Template model:
CP control
[Englsberger, Ott, IROS 2013]
PAGE 34
Folie 35
COM kinematics
Capture Point Control
xx ,
pCP control
[Englsberger, Ott, et. al., IROS-2011, ICRA-2012, at-2012]
ZMPControl
RobotDynamics
CP
qTrajectoryGenerator d
ZMP projection
MPC [SYROCO 2012]
)( p
PAGE 35
Folie 36
MPC [SYROCO 2012]
COM kinematics
Capture Point Control
xx ,
pCP control
[Englsberger, Ott, et. al., IROS 2011]
ZMPControl
RobotDynamics
CP
qTrajectoryGenerator d
ZMP projection
Collaboration with Nicolas Perrin
PAGE 36
Folie 37
Extension to 3D walking
2D 3D
Capture Point (CP) „Divergent Component of Motion“ (DCM) [Takenaka]
ZMP (steers CP)
Virtual Repellent Point(steers DCM)
COM dynamics:(not a template model)
Fxm
extFmg
DCM dynamics:
[Englsberger, Ott, IROS 2013]
PAGE 37
Folie 38
Extension to 3D walking
2D 3D
Capture Point (CP) „Divergent Component of Motion“ (DCM) [Takenaka]
ZMP (steers CP)
Virtual Repellent Point(steers DCM)
COM dynamics:(not a template model)
Fxm
extFmg
DCM dynamics:
[Englsberger, Ott, IROS 2013]vrpr
PAGE 38
39
CMP
eCMP
Enhanced Centroidal Moment Pivot point (eCMP)
Virtual Repellent Point (VRP)
> Humanoids 2014 > Christian Ott > 18.11.2014
Folie 40
DCM Tracking Control
DCM dynamics Desired closed loop
Tracking control:
Required leg force:
PAGE 40
1) Design & Control of compliant robots Torque Controlled Robots
Elastic Robots
2) Control of humanoid robots Compliant Control
Bipedal Walking
Overview
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 41
Thank you very much
for your attention!
> Humanoids 2014 > Christian Ott > 18.11.2014DLR.de • Chart 42