[세미나]Control of Bipedal Humanoid Robots with Torque Sensors

1. 제 목 : Control of Bipedal Humanoid Robots with Torque Sensors

2. 연 사 : Christian Ott, German Aerospace Center (DLR)

3. 일 시 : 2012년 7월 30일(월) 오전 11시~12시

4. 장 소 : 301동 204호

5. 내 용 :

This talk gives an overview of recent results on biped robot control at DLR. For balancing, an approach from robot grasping is adopted in which the necessary control forces for compliant balancing are distributed to the available contact points and are then generated via the joint torques. In this mapping, a constraint optimization is employed in order to limit the interaction forces to the contact constraints. This torque based approach allows for stable balancing on uncertain ground conditions. For gait stabilization, an extended capture point control law is presented which is not restricted to a simplified concentrated mass model and experimental results with the fully torque controlled robot TORO are shown. Finally, a bio-inspired control approach is presented in which the stability properties of nonlinear limit cycles are utilized for gait generation of fully actuated walking robots.

6. 연사약력 :

Christian Ott received his doctoral degree in Automatic Control from the University of Saarland, Germany, in 2005. He was a visiting researcher at the University of Twente, and worked as a project assistant professor at the University of Tokyo. Currently he is a group leader of a Helmholtz Young Investigators Research Group in the Institute of Robotics and Mechatronics at the German Aerospace Center (DLR). He received several scientific awards including the “Conference Best Paper Award” at HUMANOIDS 2011, the „Dr.-Eduard-Martin“-Prize 2007, the Industrial Robot Outstanding Paper Award 2007, the ICRA Best Video Award 2007, and the Best Paper Awards at the VDI-Conference "Mechatronik-2005" and from „at-Automatisierungstechnik“ in 2005. His main research interests are the application of nonlinear control methods to robotic systems, force and impedance control, and control of bipedal humanoid robots.

7. 문 의 : 기계항공공학부 이동준 교수 (880-7114)