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arXiv · 2210.00961

Control and Evaluation of a Humanoid Robot with Rolling Contact Knees

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.

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Seung Hyeon Bang, Carlos Gonzalez, Junhyeok Ahn, Nicholas Paine, Luis Sentis. 2022-10-03. Control and Evaluation of a Humanoid Robot with Rolling Contact Knees. https://arxiv.org/abs/2210.00961

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