German Research Center for Artificial Intelligence | Design, Analysis and Control of the Series-Parallel Hybrid RH5 Humanoid Robot @dfkivideo | Uploaded 3 years ago | Updated 19 hours ago
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.
Published In: 2020 IEEE International Conference on Humanoid Robots (ICHR) July 19-21, 2021. Munich, Germany
Link to the pre-print: arxiv.org/abs/2101.10591
Partner: Universität Bremen
Image Credits at 0:49: TALOS (PAL Robotics), TORO (DLR)
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.
Published In: 2020 IEEE International Conference on Humanoid Robots (ICHR) July 19-21, 2021. Munich, Germany
Link to the pre-print: arxiv.org/abs/2101.10591
Partner: Universität Bremen
Image Credits at 0:49: TALOS (PAL Robotics), TORO (DLR)
