A unified control framework for high-dynamic motions of biped robots

To give the biped robots a faster locomotion and better obstacle passing performance, high-dynamic motions are important. However, the instabilities and the huge impact result from the high-dynamic motions are remained challenges for the control. In this paper, a complete control framework is proposed, unifying all the controllers by the essential idea of contact force and torque control. The control framework is divided into two phases: The support phase control, which including the posture controller, the zero-moment-point controller and the threshold-added-torso-position-compliance controller; The flying phase control, which including the swing leg controller and the step position controller. To obtain a better performance for the contact force and torque control, a novel contact torque controller and a collision absorbing controller are proposed. The control framework is validated with experiments of the biped robot BHR-T performing running and jumping motions.