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This is similar to other robots made by Boston Dynamics, like the “Atlas”, which also has similar methods of control. When the “Atlas” is being controlled, the control software doesn’t explicitly tell the robot how to move its joints, but rather it employs mathematical models of the underlying physics of the robot’s body and how it ...
Oussama Khatib (Arabic: أسامة الخطيب) is a roboticist and a professor of computer science at Stanford University, and a Fellow of the IEEE.He is credited with seminal work in areas ranging from robot motion planning and control, human-friendly robot design, to haptic interaction and human motion synthesis.
Force control is the control of the force with which a machine or the manipulator of a robot acts on an object or its environment. By controlling the contact force , damage to the machine as well as to the objects to be processed and injuries when handling people can be prevented.
In global motion planning, target space is observable by the robot's sensors. However, in local motion planning, the robot cannot observe the target space in some states. To solve this problem, the robot goes through several virtual target spaces, each of which is located within the observable area (around the robot).
In particular, the precise control of brushless motors for joint motion is vital in high-speed industrial robot applications. However, flexible robot structures can introduce unwanted vibrations, challenging PID controllers. ADRC offers a solution by real-time disturbance estimation and compensation, without needing a detailed model. [6]
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