Independent Joint Vibration Suppression Control of Elastic Actuators for Safe Biped Robot

Abstract

We have developed safe, soft, and energy-saving actuators which have the elastic mechanism. Using proposed soft actuators, a robot with twelve joints has been developed. Due to the elasticity of the actuator, vibration of joints arises when usual joint control is adopted. In this paper, a new vibration suppression control based on Lie algebra is proposed. Rubustness for inertia fluctuation is evaluated by experiments. Finally, standing experiment by using the proposed control has been carried out.