Robotics
MIT hybrid force/position control
ActivePublished
Key
innovation
Proprioceptive, compliant force-and-position control via QDD actuators, without extra force sensors.
Category
Robotics
Abstraction level
Pattern
Operation level
Robot control
How it works
Selected directions/joints are position-controlled, others force/impedance-controlled, depending on task and contact phase. Compliant QDD actuators allow torque to be read from current without a force sensor, software-set stiffness/damping and impact absorption, underpinning dynamic walking and jumping.
Problem solved
In dynamic motion and ground contact, pure position control is too stiff and unsafe on impact, while pure force control does not ensure motion accuracy; a combination of the two is needed.