2022/10/03 by Seung Hyeon Bang, Carlos González, Bang, Seung Hyeon +7
Biochemistry, Genetics and Molecular Biology · Engineering · #FOS: Computer and information sciences #Muscle Physiology and Disorders #Prosthetics and Rehabilitation Robotics #Robotic Locomotion and Control #Robotics (cs.RO)
paper · pdf · doi:10.48550/arxiv.2210.00961
openalex publication_date 2022/10/03 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
In this paper, we introduce the humanoid robot DRACO 3 by providing a high-level description of its design and control. This robot features proximal actuation and mechanical artifacts to provide a high range of hip, knee and ankle motion. Its versatile design brings interesting problems as it requires a more elaborate control system to perform its motions. For this reason, we introduce a whole body controller (WBC) with support for rolling contact joints and show how it can be easily integrated into our previously presented open-source Planning and Control (PnC) framework. We then validate our controller experimentally on DRACO 3 by showing preliminary results carrying out two postural tasks. Lastly, we analyze the impact of the proximal actuation design and show where it stands in comparison to other adult-size humanoids.