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

Julian Eßer, Shivesh Kumar*, Heiner Peters, Vinzenz Bargsten, Jose De Gea Fernandez, Carlos Mastalli, Olivier Stasse, Frank Kirchner

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

17 Citations (Scopus)

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.

Original languageEnglish
Title of host publication10th IEEE-RAS International Conference on Humanoid Robots 2020
PublisherIEEE
Pages400-407
Number of pages8
ISBN (Electronic)9781728193724
DOIs
Publication statusPublished - 11 Oct 2021
Event20th IEEE-RAS International Conference on Humanoid Robots 2020 - Munich, Germany
Duration: 19 Jul 202121 Jul 2021

Conference

Conference20th IEEE-RAS International Conference on Humanoid Robots 2020
Abbreviated titleHumanoids 2020
Country/TerritoryGermany
CityMunich
Period19/07/2121/07/21

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Hardware and Architecture
  • Human-Computer Interaction
  • Electrical and Electronic Engineering

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