Abstract
This article presents a comparison of three control schemes applied on the commercially available TALOS humanoid robot. The aim is to highlight the advantages and drawbacks of each model applied on three locomotion problems: walking on flat and non-flat terrain and climbing stairs. The different models are based on position control (first and second models) or torque control (third model). The first one uses a hierarchical quadratic program at velocity level. The second one uses a weighted quadratic program named Task Space Inverse Dynamic (TSID) at acceleration level. Finally, the last one also uses TSID but at torque level. The controller performances are compared in simulation, using Gazebo, on the accuracy of their tracking, their energy consumption, and their computational time execution.
Highlights
Bipedal locomotion of humanoid robots is considered a difficult problem because of the complexity of robot dynamics, the numerous constraints of the motion, and the unknown environment
Realizing torque control on electric-based bipedal system is challenging. If it was successfully realized on the TORO robot Englsberger et al (2014) for standing whole body control and walking, it is notoriously more difficult to achieve than position control
7.3.2 Experiment Results on a Posture Task Once we achieve satisfying results on the PAL robotics simulator, we tested the classical formulation of our torque controller using inverse dynamics on the real robot on a simple postural task
Summary
Bipedal locomotion of humanoid robots is considered a difficult problem because of the complexity of robot dynamics, the numerous constraints of the motion, and the unknown environment. The design choice made when designing a robot may have a strong impact on the control laws that are really working on the system and the real performances. The robot is very robust to impact and allows torque control but is slightly limited by the payload it can carry (10 kg). Realizing torque control on electric-based bipedal system is challenging. If it was successfully realized on the TORO robot Englsberger et al (2014) for standing whole body control and walking, it is notoriously more difficult to achieve than position control. A striking example is given by the iCub robot with which impressive Tai chi motions have been realized Pucci et al (2016) but where walking in torque control mode is still difficult to achieve Romualdi et al (2019). The goal of this study is to report a similar evaluation with the commercially available TALOS robot from PAL-Robotics
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