Dynamic Balancing of Humanoid Robot with Proprioceptive Actuation: Systematic Design of Algorithm, Software, and Hardware
For humanoid robots, maintaining a dynamic balance against uncertain disturbance is crucial, and this function can be achieved by coordinating the whole body to perform multiple tasks simultaneously. Researchers generally accept hierarchical whole-body control (WBC) to address this function. Althoug...
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-09-01
|
| Series: | Micromachines |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2072-666X/13/9/1458 |
| _version_ | 1797484709981192192 |
|---|---|
| author | Yan Xie Jiajun Wang Hao Dong Xiaoyu Ren Liqun Huang Mingguo Zhao |
| author_facet | Yan Xie Jiajun Wang Hao Dong Xiaoyu Ren Liqun Huang Mingguo Zhao |
| author_sort | Yan Xie |
| collection | DOAJ |
| description | For humanoid robots, maintaining a dynamic balance against uncertain disturbance is crucial, and this function can be achieved by coordinating the whole body to perform multiple tasks simultaneously. Researchers generally accept hierarchical whole-body control (WBC) to address this function. Although experts can build feasible hierarchies using prior knowledge, real-time WBC is still challenging because it often requires a quadratic program with multiple inequality constraints. In addition, the torque tracking performance of the WBC algorithm will be affected by uncertain factors such as joint friction for a large transmission ratio proprioceptive-actuated robot. Therefore, the balance control of physical robots requires a systematic solution. In this study, a robot control system with high computing power and real-time communication ability, UBTMaster, is implemented to achieve a reduced WBC in real time. Based on these, a whole-body control scheme based on task priority for the dynamic balance of humanoid robots is implemented. After realizing the joint friction model identification, finally, a variety of balancing scenarios are tested on the Walker3 humanoid robot driven by the proprioceptive actuators to verify the effectiveness of the proposed scheme. The Walker3 robot exhibits excellent balance when multiple external disturbances occur simultaneously. For example, the two feet of the robot are subjected to tilt and displacement perturbations, respectively, while the torso is subjected to external shocks simultaneously. The experimental results show that the dynamic balance of the robot under multiple external disturbances can be achieved by using strictly hierarchical real-time WBC with a systematic design. |
| first_indexed | 2024-03-09T23:08:21Z |
| format | Article |
| id | doaj.art-eb8470c81cde4257a5016d5f74c6ef65 |
| institution | Directory Open Access Journal |
| issn | 2072-666X |
| language | English |
| last_indexed | 2024-03-09T23:08:21Z |
| publishDate | 2022-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Micromachines |
| spelling | doaj.art-eb8470c81cde4257a5016d5f74c6ef652023-11-23T17:49:52ZengMDPI AGMicromachines2072-666X2022-09-01139145810.3390/mi13091458Dynamic Balancing of Humanoid Robot with Proprioceptive Actuation: Systematic Design of Algorithm, Software, and HardwareYan Xie0Jiajun Wang1Hao Dong2Xiaoyu Ren3Liqun Huang4Mingguo Zhao5Beijing Research Institute of UBTECH Robotics, Beijing 100084, ChinaBeijing Research Institute of UBTECH Robotics, Beijing 100084, ChinaBeijing Research Institute of UBTECH Robotics, Beijing 100084, ChinaBeijing Research Institute of UBTECH Robotics, Beijing 100084, ChinaBeijing Research Institute of UBTECH Robotics, Beijing 100084, ChinaDepartment of Automation, Tsinghua University, Beijing 100084, ChinaFor humanoid robots, maintaining a dynamic balance against uncertain disturbance is crucial, and this function can be achieved by coordinating the whole body to perform multiple tasks simultaneously. Researchers generally accept hierarchical whole-body control (WBC) to address this function. Although experts can build feasible hierarchies using prior knowledge, real-time WBC is still challenging because it often requires a quadratic program with multiple inequality constraints. In addition, the torque tracking performance of the WBC algorithm will be affected by uncertain factors such as joint friction for a large transmission ratio proprioceptive-actuated robot. Therefore, the balance control of physical robots requires a systematic solution. In this study, a robot control system with high computing power and real-time communication ability, UBTMaster, is implemented to achieve a reduced WBC in real time. Based on these, a whole-body control scheme based on task priority for the dynamic balance of humanoid robots is implemented. After realizing the joint friction model identification, finally, a variety of balancing scenarios are tested on the Walker3 humanoid robot driven by the proprioceptive actuators to verify the effectiveness of the proposed scheme. The Walker3 robot exhibits excellent balance when multiple external disturbances occur simultaneously. For example, the two feet of the robot are subjected to tilt and displacement perturbations, respectively, while the torso is subjected to external shocks simultaneously. The experimental results show that the dynamic balance of the robot under multiple external disturbances can be achieved by using strictly hierarchical real-time WBC with a systematic design.https://www.mdpi.com/2072-666X/13/9/1458whole-body controlhierarchical optimizationhumanoid robot balanceproprioceptive actuation |
| spellingShingle | Yan Xie Jiajun Wang Hao Dong Xiaoyu Ren Liqun Huang Mingguo Zhao Dynamic Balancing of Humanoid Robot with Proprioceptive Actuation: Systematic Design of Algorithm, Software, and Hardware Micromachines whole-body control hierarchical optimization humanoid robot balance proprioceptive actuation |
| title | Dynamic Balancing of Humanoid Robot with Proprioceptive Actuation: Systematic Design of Algorithm, Software, and Hardware |
| title_full | Dynamic Balancing of Humanoid Robot with Proprioceptive Actuation: Systematic Design of Algorithm, Software, and Hardware |
| title_fullStr | Dynamic Balancing of Humanoid Robot with Proprioceptive Actuation: Systematic Design of Algorithm, Software, and Hardware |
| title_full_unstemmed | Dynamic Balancing of Humanoid Robot with Proprioceptive Actuation: Systematic Design of Algorithm, Software, and Hardware |
| title_short | Dynamic Balancing of Humanoid Robot with Proprioceptive Actuation: Systematic Design of Algorithm, Software, and Hardware |
| title_sort | dynamic balancing of humanoid robot with proprioceptive actuation systematic design of algorithm software and hardware |
| topic | whole-body control hierarchical optimization humanoid robot balance proprioceptive actuation |
| url | https://www.mdpi.com/2072-666X/13/9/1458 |
| work_keys_str_mv | AT yanxie dynamicbalancingofhumanoidrobotwithproprioceptiveactuationsystematicdesignofalgorithmsoftwareandhardware AT jiajunwang dynamicbalancingofhumanoidrobotwithproprioceptiveactuationsystematicdesignofalgorithmsoftwareandhardware AT haodong dynamicbalancingofhumanoidrobotwithproprioceptiveactuationsystematicdesignofalgorithmsoftwareandhardware AT xiaoyuren dynamicbalancingofhumanoidrobotwithproprioceptiveactuationsystematicdesignofalgorithmsoftwareandhardware AT liqunhuang dynamicbalancingofhumanoidrobotwithproprioceptiveactuationsystematicdesignofalgorithmsoftwareandhardware AT mingguozhao dynamicbalancingofhumanoidrobotwithproprioceptiveactuationsystematicdesignofalgorithmsoftwareandhardware |