TY - GEN
T1 - A unified control framework for high-dynamic motions of biped robots
AU - Dong, Chencheng
AU - Chen, Xuechao
AU - Yu, Zhangguo
AU - Zhang, Yuanxi
AU - Chen, Huanzhong
AU - Li, Qingqing
AU - Huang, Qiang
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021/7/3
Y1 - 2021/7/3
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85116213040&partnerID=8YFLogxK
U2 - 10.1109/ICARM52023.2021.9536066
DO - 10.1109/ICARM52023.2021.9536066
M3 - Conference contribution
AN - SCOPUS:85116213040
T3 - 2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021
SP - 621
EP - 626
BT - 2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021
Y2 - 3 July 2021 through 5 July 2021
ER -