Hybrid Adaptive Control for Series Elastic Actuator of Humanoid Robot
National Key Laboratory of Digital Control and System Engineering, Ho Chi Minh City University of Technology, VNU-HCM（越南国立大学胡志明市理工大学数字控制与系统工程国家重点实验室）；Ho Chi Minh City University of Technology, VNU-HCM（越南国立大学胡志明市理工大学）；Saigon University（西贡大学）；Pukyong National University（釜庆大学）
Anh Khoa Lanh Luu, Van Tu Duong, Huy Hung Nguyen, Sang Bong Kim, Tan Tien Nguyen
Generally, humanoid robots usually suffer significant impact force when walking or running in a non-predefined environment that could easily damage the actuators due to high stiffness. In recent years, the usages of passive, compliant series elastic actuators (SEA) for driving humanoid's joints have proved the capability in many aspects so far. However, despite being widely applied in the biped robot research field, the stable control problem for a humanoid powered by the SEAs, especially in the walking process, is still a challenge. This paper proposes a model reference adaptive control (MRAC) combined with the backstepping algorithm to deal with the parameter uncertainties in a humanoid's lower limb driven by the SEA system. This is also an extension of our previous research (Lanh et al.,2021). Firstly, a dynamic model of SEA is obtained. Secondly, since there are unknown and uncertain parameters in the SEA model, a model reference adaptive controller (MRAC) is employed to guarantee the robust performance of the humanoid's lower limb. Finally, an experiment is carried out to evaluate the effectiveness of the proposed controller and the SEA mechanism.
Automatic Grouping of Redundant Sensors and Actuators Using Functional and Spatial Connections: Application to Muscle Grouping for Musculoskeletal Humanoids
Modeling and control of a cable-driven series elastic actuator
Institute of Robotics and Automatic Information Systems, Nankai University（机器人与自动化信息系统研究所，南开大学）；Tianjin Key Laboratory of Intelligent Robotics, Nankai University（天津智能机器人重点实验室，南开大学）
Learning Bipedal Walking for Humanoids with Current Feedback
CNRS-AIST JRL (Joint Robotics Laboratory) IRL（法国国家科学研究中心-产业技术综合研究所联合机器人实验室国际联合实验室）；National Institute of Advanced Industrial Science and Technology (AIST)（产业技术综合研究所）；University of Tsukuba（筑波大学）；Stanford University（斯坦福大学）
High-Power, Flexible, Robust Hand: Development of Musculoskeletal Hand Using Machined Springs and Realization of Self-Weight Supporting Motion with Humanoid
Spectral Normalization for Lipschitz-Constrained Policies on Learning Humanoid Locomotion
Department of Intelligence and Information, Graduate School of Convergence Science and Technology, Seoul National University（智能信息系，融合科学与技术研究院，首尔国立大学）；X Technologies（1X技术公司）；Department of Intelligence and Information, Graduate School of Convergence Science and Technology, ASRI, AIIS, Seoul National University, Republic of Korea, and Advanced Institute of Convergence Technology (AICT), Suwon, Republic of Korea（智能信息系，融合科学与技术研究院，ASRI、AIIS、首尔国立大学，韩国，以及融合技术研究所（AICT），Suwon，韩国）
基于云的先进机器人实验室（CARL）集成了全身控制器和基于Web的远程操作，使任何具有Web浏览器的设备都可以访问和控制人形机器人。通过将人形机器人与云集成，可以从任何连接互联网的设备访问它们。增加可访问性很重要，因为很少有人能够访问最先进的人形机器人，限制了它们的发展速度。CARL的实现基于现代软件库、框架和中间件，包括Node.js、Socket.IO、ZMQ、ROS、Robot Web Tools和ControlIt！可行性证明，有经验的人类操作员使用智能手机的网络浏览器来控制梦想家，一个扭矩控制的人形机器人的基础上系列弹性执行器，并使其执行双臂操作任务。该实现可作为许多先进的人形机器人技术的研究和开发的概念验证和基础。
Data-driven Force Observer for Human-Robot Interaction with Series Elastic Actuators using Gaussian Processes
Technical University of Munich（慕尼黑工业大学）；TUM School of Computation, Information and Technology（慕尼黑工业大学计算、信息与技术学院）；BioRobotics Institute, Scuola Superiore Sant’Anna（圣安娜高等学校生物机器人研究所）；ETH Zurich（苏黎世联邦理工学院）
Series-Parallel Integrated Nonlinear Elastic Actuator applied to the lean motion of a bicycle simulator
Institute of Automatic Control, RWTH Aachen University（自动控制研究所，亚琛RWTH大学）；Demcon Life Sciences & Health（Demcon生命科学与健康）；Hapticlink Technologies（Hapticlink技术公司）；Department of BioMechanical Engineering, Delft University of Technology（生物机械工程系，代尔夫特理工大学）；Department of Rehabilitation Medicine, Erasmus MC（康复医学系，埃因霍温麦斯特大学）
Evolutionary Continuous Adaptive RL-Powered Co-Design for Humanoid Chin-Up Performance
Robotics Innovation Center, DFKI GmbH（DFKI机器人创新中心）；Computational Robotics Lab, ETH Zurich（苏黎世联邦理工学院计算机器人实验室）；AG Robotik University of Bremen（不莱梅大学机器人技术研究所）；RWTH Aachen University（亚琛工业大学）
First International HARTING Open Source Prize Winner: The igus Humanoid Open Platform
Univ. of Bonn（波恩大学）
在人形机器人领域使用标准平台可以降低新研究小组的进入门槛，并通过促进代码共享来加速研究。许多人形标准平台存在于高达60厘米的较低尺寸范围内，但除此之外，人形机器人在重量和价格上迅速扩大，变得更便宜，更难以操作，维护和修改。igus Humanoid Open Platform是一个经济实惠的，完全开源的人形研究平台。该机器人长92厘米，能够在人类环境中行动，并配备了足够的传感器，执行器和计算能力，以支持许多领域的研究人员。机器人的结构完全是3D打印的，从而实现了轻量化和视觉吸引力的设计。本文涵盖了机器人的机械和电气方面，以及相应的开源ROS软件的主要功能。在2016年RoboCup上，该平台获得了首届国际浩亭开源奖。
Safe rendering of high impedance on a series-elastic actuator with disturbance observer-based torque control
Fraunhofer Institute for Production Systems and Design Technology (IPK)（弗劳恩霍夫生产系统与设计技术研究所（IPK））；Daegu Gyeongbuk Institute of Science and Technology（大邱庆北科学技术院）
Design and Control of a Compact Series Elastic Actuator Module for Robots in MRI Scanners
Department of Electrical Engineering and Computer Sciences, University of California, Berkeley（电气工程与计算机科学系，加州大学伯克利分校）；Department of Mechanical, Aerospace, and Industrial Engineering, The University of Texas at San Antonio（机械、航空航天与工业工程系，德克萨斯大学圣安东尼奥分校）；Department of Mechanical Engineering, University of California, Berkeley（机械工程系，加州大学伯克利分校）
