Name
Title | ||
|---|---|---|
Towards natural bipedal walking: Virtual gravity compensation and capture point control |
Abstract | ||
|---|---|---|
To achieve dynamic balancing and natural walking for a bipedal robot we propose a novel force-based control framework. Given 6-dimensional pose vector representing robot's posture and attitude, desired force and moment in the task space are computed. To generate the force and moment as desired, we propose the use of virtual gravity compensation (VGC), essentially a dynamic controller that outputs joint torques. By using the VGC-based balancing controller, the robot can maintain a desired pose stably even on a tilting plate. We also propose to extend the VGC-based balancing controller to implement a walking algorithm that controls the desired pose in terms of capture point using a finite state machine. The control algorithm was tested with torque-controlled humanoid platforms developed by our group to demonstrate robust and natural gaits under various walking environments. The robot walked robustly on irregular surfaces and recovered from external pushes. The robot also exhibited natural walking motions such as pendulum-like leg swings and heel-to-toe transitions, a characteristic feature of human gait, all without explicitly designating joint angle trajectories. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1109/IROS.2012.6385902 | IROS |
Keywords | Field | DocType |
finite state machines,external pushes,irregular surfaces,finite state machine,robot attitude,heel-to-toe transitions,force-based control framework,virtual gravity compensation,legged locomotion,torque control,robot posture,gravity,vgc-based balancing controller,force control,humanoid robots,dynamic balancing,pendulum-like leg swings,natural bipedal walking,torque-controlled humanoid platforms,6-dimensional pose vector,capture point control,robot kinematics,foot,force,dynamics | Torque,Computer science,Control theory,Control engineering,Artificial intelligence,Humanoid robot,Computer vision,Robot control,Control theory,Robot kinematics,Finite-state machine,Gait (human),Robot | Conference |
ISSN | ISBN | Citations |
2153-0858 | 978-1-4673-1737-5 | 6 |
PageRank | References | Authors |
0.56 | 13 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Keehong Seo | 1 | 75 | 8.42 |
| Joo-Hyung Kim | 2 | 32 | 6.90 |
| Kyung Shik Roh | 3 | 49 | 6.16 |