{"title":"人形机器人UT-Theta的主动-被动膝关节控制","authors":"D. Wollherr","doi":"10.1109/ICAR.2005.1507484","DOIUrl":null,"url":null,"abstract":"This paper discusses low level control of the humanoid UT-Theta which has been developed at the University of Tokyo. This innovative humanoid walking robot is equipped with knee joint switchable between active and passive operation mode using a backlash clutch. A nonlinear, time optimal, hybrid controller for this knee joint is presented. The controller avoids discontinuities in the commanded trajectories thus ensuring smooth trajectory following. Relevance to practical application is shown in hardware experiments","PeriodicalId":428475,"journal":{"name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","volume":"95 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2005-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"7","resultStr":"{\"title\":\"Active-passive knee control for the humanoid UT-Theta\",\"authors\":\"D. Wollherr\",\"doi\":\"10.1109/ICAR.2005.1507484\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper discusses low level control of the humanoid UT-Theta which has been developed at the University of Tokyo. This innovative humanoid walking robot is equipped with knee joint switchable between active and passive operation mode using a backlash clutch. A nonlinear, time optimal, hybrid controller for this knee joint is presented. The controller avoids discontinuities in the commanded trajectories thus ensuring smooth trajectory following. Relevance to practical application is shown in hardware experiments\",\"PeriodicalId\":428475,\"journal\":{\"name\":\"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.\",\"volume\":\"95 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2005-07-18\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"7\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICAR.2005.1507484\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICAR.2005.1507484","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Active-passive knee control for the humanoid UT-Theta
This paper discusses low level control of the humanoid UT-Theta which has been developed at the University of Tokyo. This innovative humanoid walking robot is equipped with knee joint switchable between active and passive operation mode using a backlash clutch. A nonlinear, time optimal, hybrid controller for this knee joint is presented. The controller avoids discontinuities in the commanded trajectories thus ensuring smooth trajectory following. Relevance to practical application is shown in hardware experiments
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