Dynamic Legged Systems Lab, Istituto Italiano di Tecnologia
High-Performance Torque Control on Hydraulic Legged Robots
This talk will give an overview of the mechatronics and control required to achieve high-performance torque control with hydraulic actuation. In particular, I will focus on different sensors, hydraulic components, model-based control, active impedance, and inverse dynamics. Experimental results are shown on single joints, legs and quadruped robots (HyQ and HyQ2Max).
Claudio Semini received an M.Sc. degree in electrical engineering and information technology from ETH Zurich, Switzerland, in 2005. He is currently the Head of the Dynamic Legged Systems (DLS) Laboratory at Istituto Italiano di Tecnologia (IIT). From 2004 to 2006, he first visited the Hirose Laboratory at Tokyo Tech, and later the Toshiba R&D Center, Japan. During his doctorate from 2007 to 2010 at the IIT, he developed the hydraulic quadruped robot HyQ and worked on its control. After a postdoc with the same department, in 2012, he became the head of the DLS lab. His research interests include the construction and control of highly dynamic and versatile legged robots in real-world environments.