Computed Torque Control for a VSA type Hybrid Shoulder Joint

Mghames, Sariah, G. Catalano, Manuel, Bicchi, Antonio and Grioli, Giorgio (2021) Computed Torque Control for a VSA type Hybrid Shoulder Joint. In: ICRA 2021 Workshop: "Parallel robots or not parallel robots? New frontiers of parallel robotics".

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Abstract

Robotic anthropomorphism has been the study area of many researchers, which led to the conclusion that perceiving similar human features allow robots to be more socially accepted and integrated. Anthropomorphism can be thought from both morphological and functional point of views, while the degree of integration of both aspects determines the social impact of their union. One key aspect to the embodiment of functional anthropomorphism in robots is the impedance modulation. In this work, we present the first prototype of a variable stiffness actuated, hybrid type, robotic shoulder joint. We leverage our work on the anthropomorphic approach presented in our previous works for humanoids and humans applications. We then formulate the computed torque control scheme for such systems, controlled in fully autonomous scenarios.

Keywords:Soft Robotics, Control Systems, Assistive devices, parallel architectures
Subjects:H Engineering > H660 Control Systems
H Engineering > H671 Robotics
H Engineering > H320 Mechanisms and Machines
Divisions:College of Science > School of Computer Science
ID Code:48833
Deposited On:11 Apr 2022 08:49

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