Design, Analysis and Control of the Series-Parallel Hybrid RH5 Humanoid Robot

Julian Eßer, Shivesh Kumar, Heiner Peters, Vinzenz Bargsten, José de Gea Fernández, Carlos Mastalli, Olivier Stasse, Frank Kirchner

In: 2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids). IEEE-RAS International Conference on Humanoid Robots (Humanoids-2020) July 19-21 Munich/Virtual Germany Pages 400-407 IEEE 7/2021.


Last decades of humanoid research has shown that humanoids developed for high dynamic performance require a stiff structure and optimal distribution of mass– inertial properties. Humanoid robots built with a purely tree type architecture tend to be bulky and usually suffer from velocity and force/torque limitations. This paper presents a novel series-parallel hybrid humanoid called RH5 which is 2 m tall and weighs only 62.5 kg capable of performing heavy-duty dynamic tasks with 5 kg payloads in each hand. The analysis and control of this humanoid is performed with whole-body trajectory optimization technique based on differential dynamic programming (DDP). Additionally, we present an improved contact stability soft-constrained DDP algorithm which is able to generate physically consistent walking trajectories for the humanoid that can be tracked via a simple PD position control in a physics simulator. Finally, we showcase preliminary experimental results on the RH5 humanoid robot.


20210726_Design,_analysis_and_control_of_the_series-parallel_hybrid_RH5.pdf (pdf, 5 MB )

German Research Center for Artificial Intelligence
Deutsches Forschungszentrum für Künstliche Intelligenz