In the first video, Valkyrie, aided by a new whole-body compliant control and planning architecture, turns an industrial valve while being assisted by a skilled operator. In the second video, Valkyrie undergoes a series of tests to coordinate her upper and lower body.
A new control architecture that utilizes effectively the force controlled Series Elastic Actuators of Hume is put to use for precision motion tracking under gravity disturbances.
Bumping into walls
Bumping into humans!
“Design and Control Considerations for High Performance Series Elastic Actuators”, IEEE/ASME Transactions on Mechatronics, In Press
Link to the video
Click on the image below for a link to the PDF
Dreamer receives a new 7 Degree of Freedom, Series Elastic Arm manufactured by Meka. A new gripper is being designed to allow dual hand manipulation.
Dr. Sentis gives a talk at Dynamic Walking 2012 on Rough Terrain Locomotion.