High-precision dynamic torque control of high stiffness actuator for humanoids

Yaliang Liu; Xuechao Chen; Zhangguo Yu; Han Yu; Libo Meng; Hiroshi Yokoi

doi:10.1016/j.isatra.2023.06.031

High-precision dynamic torque control of high stiffness actuator for humanoids

ISA Trans. 2023 Oct:141:401-413. doi: 10.1016/j.isatra.2023.06.031. Epub 2023 Jul 3.

Authors

Yaliang Liu¹, Xuechao Chen², Zhangguo Yu³, Han Yu¹, Libo Meng¹, Hiroshi Yokoi⁴

Affiliations

¹ School of Mechatronical Engineering, Beijing Institute of Technology (BIT), Beijing 100081, China; The Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing 100081, China.
² School of Mechatronical Engineering, Beijing Institute of Technology (BIT), Beijing 100081, China; The Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing 100081, China. Electronic address: chenxuechao@bit.edu.cn.
³ School of Mechatronical Engineering, Beijing Institute of Technology (BIT), Beijing 100081, China; The State Key Laboratory of Intelligent Control and Decision of Complex Systems, Beijing 100081, China.
⁴ Beijing Advanced Innovation Center for Intelligent Robots and Systems, BIT, Beijing 100081, China; Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, Tokyo 182-8585, Japan.

PMID: 37474435
DOI: 10.1016/j.isatra.2023.06.031

Abstract

The high stiffness actuator (HSA), applied to each joint of an electrical driven humanoid robot, can directly affect the motion performance of the torque-controlled humanoid robots. For high control performance of HSA, a high-precision dynamic torque control (HDTC) is proposed. The HDTC consists of two phases: (1) A novel dynamic current control is used to linearize high stiffness actuator torque control system, which can estimate and compensate the nonlinear coupling parts; (2) An enhanced internal model control is designed to ensure high tracking accuracy in the system containing noisy torque signal and even numerical differentiation signals. Benefitting from dynamic current control and the enhanced internal model control, the proposed HDTC is accurate and adaptable. Finally, the superiority of the HDTC is verified with comparative experiments.

Keywords: Dynamic current control (DCC); High stiffness actuator (HSA); Humanoid robot; Internal model control (IMC); Torque control.