Force Feedback Control Implementation for SMART Non-Linear Actuator
SMART is a non-linear actuator used in the humanoid biped robot SILO2. This actuator has been developed by the Industrial Automation Institute in order to spend less energy without losing kinematic skills. This paper presents kinematic parameters of hip joint in the lateral plane and the place where the force sensing is realized. The output and input torque are calculated with the measurement of force in one rod of SMART and the motor current, respectively; and they are compared in order to know the performance of this joint. Force control in the hip lateral joint was carried out. By means of this control, compliance movement and detection of obstacles when the robot completes a gait can be realized. Additionally with this force control the biped robot stability in the lateral plane is improved.
KeywordsForce Control Lateral Plane Transmission Ratio Sensor Fusion Biped Robot
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