Biped walking control based on hybrid position/force control

Authors:
Thomas Buschmann;Sebastian Lohmeier;Heinz Ulbrich
Affiliations:
Institute of Applied Mechanics, Technische Universitát München, Garching, Germany;Institute of Applied Mechanics, Technische Universitát München, Garching, Germany;Institute of Applied Mechanics, Technische Universitát München, Garching, Germany
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

Citing 4
Cited 0

Advanced Robotics: Redundancy and Optimization

Advanced Robotics: Redundancy and Optimization
Springer Handbook of Robotics

Springer Handbook of Robotics
Humanoid robot LOLA

ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Stable Bipedal Walking With Foot Rotation Through Direct Regulation of the Zero Moment Point

IEEE Transactions on Robotics

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Abstract

This paper describes a real-time walking control system developed for the biped robots JOHNNIE and LOLA. Walking trajectories are planned on-line using a simplified robot model and modified by a stabilizing controller. The controller uses hybrid position/force control in task space based on a resolved motion rate scheme. Inertial stabilization is achieved by modifying the contact force trajectories. The paper includes an analysis of the dynamics of controlled bipeds, which is the basis for the proposed control system. The system was tested both in forward dynamics simulations and in experiments with JOHNNIE.