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Conference Papers Year : 2021

Design, analysis and control of the series-parallel hybrid RH5 humanoid robot

Abstract

Last decades of humanoid research has shown that humanoids developed for high dynamic performance require a stiff structure and optimal distribution of mass--inertial properties. Humanoid robots built with a purely tree type architecture tend to be bulky and usually suffer from velocity and force/torque limitations. This paper presents a novel series-parallel hybrid humanoid called RH5 which is 2 m tall and weighs only 62.5 kg capable of performing heavy-duty dynamic tasks with 5 kg payloads in each hand. The analysis and control of this humanoid is performed with whole-body trajectory optimization technique based on differential dynamic programming (DDP). Additionally, we present an improved contact stability soft-constrained DDP algorithm which is able to generate physically consistent walking trajectories for the humanoid that can be tracked via a simple PD position control in a physics simulator. Finally, we showcase preliminary experimental results on the RH5 humanoid robot.

Dates and versions

hal-03420889 , version 1 (09-11-2021)

Identifiers

Cite

Julian Esser, Shivesh Kumar, Heiner Peters, Vinzenz Bargsten, Jose de Gea Fernandez, et al.. Design, analysis and control of the series-parallel hybrid RH5 humanoid robot. 2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids), Jul 2021, Munich, Germany. ⟨10.1109/HUMANOIDS47582.2021.9555770⟩. ⟨hal-03420889⟩
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