Control design to achieve dynamic walking on a bipedal robot with compliance

Abstract

We propose a control framework for dynamic bipedal locomotion with compliant joints. A novel 3D dynamic walking is achieved by utilizing natural dynamics of the system. It is done by 1) driving robot joints directly with the posturebased state machine and 2) controlling tendon-driven compliant actuators. To enlarge gait's basin attraction for stable walking, we also adaptively plan step-to-step motion and compensate stance/swing motion. Final joint input is described by a superposition of state machine control torques and compensation torques of balancers. Various walking styles are easily generated by composing straight and turning gait-primitives and such walking is effectively able to adapt on various environments. Our proposed method is applied to a torque controlled robot platform, Roboray. Experimental results show that gaits are able to traverse inclined and rough terrains with bounded variations, and the result gaits are human-like comparing the conventional knee bent walkers.

Force Localized Interaction Sensing System for HYDROïD Humanoid Robot

“…The researches have been focused to overcome this issue, especially on human-robot collision. The impact of the forces occurred due to the humanrobot collision can be diminished through designing a lightweight robots [9], compliance control (complaint actuation) [10][11] or impedance control [12]. To apply any of these or other solutions, it is needed to know about the force resulting from the collision.…”

Vision-based compliant control with landing adaptation to obstacle for biped walking robot

“…In the past researches, many techniques have been proposed for terrain adaptation: adjusting step length method for rough terrain [1], reactive control considering rough terrain [2], adaptive gait control with realtime sensing of the ground profile [3], dynamic pattern and feedback control [4], human-like walking with compliant actuators [5] and so on. For biped vehicle, terrain-adaptive control based on impedance control has been proposed [6].…”