Virginia Tech
Design and Implementation of a Scalable Real-Time Motor Controller Architecture for Humanoid Robots and Exoskeletons
Abstract
dc:description.abstractEmbedded systems for humanoid robots are required to be reliable, low in cost, scalable and robust. Most of the applications related to humanoid robots require efficient force control of Series Elastic Actuators (SEA). These control loops often introduce precise timing requirements due to the safety critical nature of the underlying hardware. Also the motor controller needs to run fast and interface with several sensors. The commercially available motor controllers generally do not satisfy all the requirements of speed, reliability, ease of use and small size. This work presents a custom motor controller, which can be used for real time force control of SEA on humanoid robots and exoskeletons. Emphasis has been laid on designing a system which is scalable, easy to use and robust. The hardware and software architecture for control has been presented along with the results obtained on a novel Series Elastic Actuator based humanoid robot THOR.
Degree
thesis:*- Name thesis:degree_name
- Master of Science
- Level thesis:degree_level
- masters
- Discipline thesis:degree_discipline
- Electrical Engineering
- Department dc:contributor.department
- Electrical and Computer Engineering
- Grantor dc:publisher
- Virginia Tech
- Year dc:date.issued
- 2017
Author and committee
dc:creator, dc:contributor.*- Author dc:creator
-
- Shah, Shriya
- Chairs dc:contributor.committeechair
-
- Tokekar, Pratap
- Leonessa, Alexander
- Committee members dc:contributor.committeemember
-
- Stilwell, Daniel J.
- Asbeck, Alan T.
Subjects
dc:subject × 5Rights
dc:rights- Statement dc:rights
-
- In Copyright
- Licence dc:rights.uri
Identifiers
dc:identifier.*- Dc Identifier Other
- vt_gsexam:12478
- OAI identifier oai:identifier
- oai:vtechworks.lib.vt.edu:10919/78734