Simulation of Improved Bipedal Running Based on Swing Leg Control and Whole-body Dynamics

Yuanzhen Bi, Junyao Gao*, Yizhou Lu, Jingwei Cao, Weilong Zuo, Tian Mu

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Citations (Scopus)

Abstract

The realization of running motion can greatly improve the athletic performance of the legged mobile robot. The biologically inspired deadbeat (BID) controller realizes robust bipedal running, allows versatile running patterns and is realtime capable. However, the lack of precise position adjustment strategy of swing leg leads to large center of mass (CoM) tracking error and slow convergence to steady state when perturbed. This paper proposed a simple event-based controller of swing leg position on the basis of the BID controller, using feedback of the system state at the lift off moment. And a linear quadratic regulator (LQR) is used to adjust the feedback gains. The controllers are then embeded into a whole-body control framework, which unifies the task space objectives and the physical constraints of dynamics, contact, ZMP and friction. Meanwhile, the physical limitations of the real robot such as joint torque amplitude and foot size are guaranteed. The proposed control framework was implemented on a torque-controlled bipedal robot and realize steady running in a simulated environment. And the swing leg control is proved under push recovery which decreases the CoM tracking error from 0.076m to 0.045m and recovery time from 2.34s to 1.22s.

Original languageEnglish
Title of host publication2021 6th International Conference on Robotics and Automation Engineering, ICRAE 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages134-140
Number of pages7
ISBN (Electronic)9781665406970
DOIs
Publication statusPublished - 2021
Event6th International Conference on Robotics and Automation Engineering, ICRAE 2021 - Guangzhou, China
Duration: 19 Nov 202122 Nov 2021

Publication series

Name2021 6th International Conference on Robotics and Automation Engineering, ICRAE 2021

Conference

Conference6th International Conference on Robotics and Automation Engineering, ICRAE 2021
Country/TerritoryChina
CityGuangzhou
Period19/11/2122/11/21

Keywords

  • Swing leg control
  • bipedal running
  • humanoid robot
  • quadratic-programming optimization
  • whole-body control

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Bi, Y., Gao, J., Lu, Y., Cao, J., Zuo, W., & Mu, T. (2021). Simulation of Improved Bipedal Running Based on Swing Leg Control and Whole-body Dynamics. In 2021 6th International Conference on Robotics and Automation Engineering, ICRAE 2021 (pp. 134-140). (2021 6th International Conference on Robotics and Automation Engineering, ICRAE 2021). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRAE53653.2021.9657829