On the Hardware Design and Control Architecture of the Humanoid Robot Kangaroo
Résumé
Humanoid bipedal platforms are finally moving from controlled lab environments to real-world applications in unstructured scenarios. This has been recently achieved with substantial improvements in hardware and software architectures. In particular, the hardware design of bipedal humanoid robots has changed to be robust and resilient to impacts, as well as lightweight and efficient for dynamic movements. At the same time, planning and control architectures permit now to generate and control high dynamic, contact rich, motions employing the dynamics and the full body of the system. In this short paper, we present Kangaroo, a new humanoid bipedal robot designed by PAL Robotics for research on agile and dynamic locomotion. Kangaroo exploits novel mechanical solutions based on linear actuators and closed/parallel kinematics chains. We present the mechanical design and the whole planning and control pipeline developed to make Kangaroo jump on real experiments to demonstrate the superior robustness and resilience of the platform.
Domaines
Automatique / Robotique
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