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A two-staged residual for resilient external torque estimation with series elastic actuators

Title
A two-staged residual for resilient external torque estimation with series elastic actuators
Authors
Lee, ChanLee, J.Malzahn, J.Tsagarakis, N.Oh, Sehoon
DGIST Authors
Oh, Sehoon
Issue Date
2017-11-17
Citation
17th IEEE-RAS International Conference on Humanoid Robotics, Humanoids 2017, 817-823
Type
Conference
ISBN
9781538646786
ISSN
2164-0572
Abstract
Collaborative robots driven by Series Elastic Actuators (SEA) exploit physical compliance, which enables joint torque sensing to accurately estimate external contact torques based on residual momenta. The deflection measurement precision for the compliant element determines the torque accuracy. It is affected by support clearances, assembly tolerances, stiffness calibration errors as well as unmodelled non-linearity. Moreover, the stiffness value amplifies deflection errors leading to larger torque estimation errors, which limits the benefits of integrated joint torque sensing for enhanced external torque estimation with higher stiffness SEAs. Accordingly, this paper newly proposes a two-staged approach of the residual based external torque estimation for SEA driven robots. The proposed method augments the residual calculation by the motor-side dynamics, uses both, motor and link side angular measurements, but entirely waives the need to model the spring dynamics for the external torque estimation. Consequently, this improves accuracy and sensitivity in wide-ranging stiffness applications. The performance of the two-staged residual is verified by experiments with the SEA of the WALK-MAN humanoid robot. © 2017 IEEE.
URI
http://hdl.handle.net/20.500.11750/6222
DOI
10.1109/HUMANOIDS.2017.8246966
Publisher
IEEE Computer Society
Related Researcher
  • Author Oh, Sehoon MCL(Motion Control Lab)
  • Research Interests Research on Human-friendly motion control; Development of human assistance;rehabilitation system; Design of robotic system based on human musculoskeletal system; Analysis of human walking dynamics and its application to robotics; 친인간적인 운동제어 설계연구; 인간 보조;재활 시스템의 설계 및 개발연구; 인간 근골격계에 기초한 로봇기구 개발연구; 보행운동 분석과 모델 및 로봇기구에의 응용
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Collection:
Department of Robotics EngineeringMCL(Motion Control Lab)2. Conference Papers


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