Applying dynamic walking control for biped robots

Authors:
Stefan Czarnetzki;Sören Kerner;Oliver Urbann
Affiliations:
Robotics Research Institute, Section Information Technology, Dortmund University of Technology, Dortmund, Germany;Robotics Research Institute, Section Information Technology, Dortmund University of Technology, Dortmund, Germany;Robotics Research Institute, Section Information Technology, Dortmund University of Technology, Dortmund, Germany
Venue:
RoboCup 2009
Year:
2010

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Abstract

This article presents the application of a novel observer-based control system to achieve reactive motion generation for dynamic biped walking. The proposed approach combines a feedback controller with an online generated feet pattern to assure a stable gait. Experiments in a simulated environment as well as on real robots clearly demonstrate the robustness of the control system. The presented algorithms enable the robot not only to walk dynamically stable but also to cope with major internal disturbances like flaws of the robots internal model and external disturbances like uneven or unstable ground or collisions with objects or other robots.