TY - GEN
T1 - Active-passive knee control for the humanoid UT-Theta
AU - Wollherr, Dirk
AU - Zonfrilli, Fabio
AU - Nakamura, Yoshihiko
PY - 2005
Y1 - 2005
N2 - This paper discusses low level control of the humanoid UT-Theta which has been been developed at the University of Tokyo. This innovative humanoid walking robot is equipped with knee joint switchable between active and passive operation mode using a backlash clutch. A nonlinear, time optimal, hybrid controller for this knee joint is presented. The controller avoids discontinuities in the commanded trajectories thus ensuring smooth trajectory following. Relevance to practical application is shown in hardware experiments.
AB - This paper discusses low level control of the humanoid UT-Theta which has been been developed at the University of Tokyo. This innovative humanoid walking robot is equipped with knee joint switchable between active and passive operation mode using a backlash clutch. A nonlinear, time optimal, hybrid controller for this knee joint is presented. The controller avoids discontinuities in the commanded trajectories thus ensuring smooth trajectory following. Relevance to practical application is shown in hardware experiments.
UR - http://www.scopus.com/inward/record.url?scp=33749044577&partnerID=8YFLogxK
U2 - 10.1109/ICAR.2005.1507484
DO - 10.1109/ICAR.2005.1507484
M3 - Conference contribution
AN - SCOPUS:33749044577
SN - 0780391772
SN - 9780780391772
T3 - 2005 International Conference on Advanced Robotics, ICAR '05, Proceedings
SP - 692
EP - 697
BT - 2005 International Conference on Advanced Robotics, ICAR '05, Proceedings
T2 - 12th International Conference on Advanced Robotics, 2005. ICAR '05
Y2 - 18 July 2005 through 20 July 2005
ER -