IJMO 2024 Vol.14(4): 149-155
DOI: 10.7763/IJMO.2024.V14.864
Humanoid Ankle Mechanism: Real-Time Control Architecture
Maysoon Ghandour1,*, Naima Ait Oufroukh1, Samer Alfayad1, and Adrian Olaru2
1 IBISC Laboratory, University of Paris Saclay, Evry, France
2 Department of Robotics and Production System, of Robotics and Production System, Bucharest, Romania
Email: maysoon.ghandour@universite-paris-saclay.fr (M.G.); naima.aitoufroukh@univ-evry.fr (N.A.O.);
samer.alfayad@univ-evry.fr (S.A.); adrian.olaru2301@upb.ro (A.O.)
*Corresponding author
Manuscript received May 25, 2024; revised July 12, 2024; accepted September 1, 2024; published December 12, 2024
Abstract—The high demand for humanoid robots capable of operating effectively in various environments has promoted the development of software, hardware, and control architecture. Electro-hydraulic actuators have gained interest due to their power-to-weight and also their power-to-volume ratio, making them suitable for robotics applications. Nevertheless, this highlighted the importance of safety due to the high forces generated, which presents a critical challenge. A stable control system capable of operating in real-time is required for safe robot interaction without system failure. This paper aims to develop a real-time control architecture for an electro-hydraulic humanoid while presenting the hybrid mechanism of the ankle as a case study. The solution proposed is a distributed, open-source, real-time, and modular control architecture. The results demonstrated the potential for using EtherCAT and open-source software to develop a stable robot control architecture.
Keywords—humanoid, real-time, EtherCAT, electro-hydraulic actuator
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Cite: Maysoon Ghandour, Naima Ait Oufroukh, Samer Alfayad, and Adrian Olaru, "Humanoid Ankle Mechanism: Real-Time Control Architecture," International Journal of Modeling and Optimization, vol. 14, no. 4, pp. 149-155, 2024.
Copyright © 2024 by the authors. This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited
(CC BY 4.0).
