Emergent Humanoid Robot Motion Synergies Derived From the Momentum Equilibrium Principle and the Distribution of Momentum

Nenchev, Dragomir N.; Iizuka, Ryo

doi:10.1109/tro.2021.3083195

Cited by 5 publications

(1 citation statement)

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“…In [ 17 ], the mechanism for use of the arm strategy was proposed, and disturbed equilibrium recovery control of a simplified model with arms was realized based on nonlinear model predictive control. The angular momentum generated by swinging of the arms to counteract large disturbances in the upper body and restore overall balance had a positive effect [ 18 , 19 , 20 ]. In addition, the swinging of the arms plays an important role in maintaining balance when trampling through and colliding with irregular terrain, which is the first problem faced by robots in human environments, but the research in this area has been limited [ 21 ].…”

Section: Introductionmentioning

confidence: 99%

Hybrid Momentum Compensation Control by Using Arms for Bipedal Dynamic Walking

Gao

Chen

et al. 2023

Biomimetics

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Biped robots swing their legs alternately to achieve highly dynamic walking, which is the basic ability required for them to perform tasks. However, swinging of the swinging leg in the air will disturb the interaction between the supporting leg and the ground and affect the upper body’s balance during dynamic walking. To allow the robot to use its own intrinsic motion characteristics to maintain stable movement like a human when its lower limbs are affected by unknown disturbances during dynamic walking, the ability to use its arms to resist disturbances is essential. This article presents a hybrid momentum compensation control method for torque-controlled biped robots to adapt to unknown disturbances during dynamic walking. First, a hybrid angular momentum and linear momentum regulator is designed to compensate for the disturbance caused by the swinging leg. Second, based on real-time dynamic state changes of the legs, a mixed-momentum quadratic programming controller is designed to realize stable dynamic walking. The proposed method allows the force-controlled robot to maintain its balance while walking down an unknown platform, and it maintains good straightness in the forward direction of dynamic motion. The proposed method’s effectiveness is verified experimentally on the BHR-B2 force-controlled biped robot platform.

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