Control design to achieve dynamic walking on a bipedal robot with compliance
We propose a control framework for dynamic bipedal locomotion with compliant joints. A novel 3D dynamic walking is achieved by utilizing natural dynamics of the system. It is done by 1) driving robot joints directly with the posture based state machine and 2) controlling tendon driven compliant actuators. To enlarge gait's basin attraction for stable walking, we also adaptively plan step to step motion and compensate stance/swing motion. Final joint input is described by a superposition of state machine control torques and compensation torques of balancers. Various walking styles are easily generated by composing straight and turning gait primitives and such walking is effectively able to adapt on various environments. Our proposed method is applied to a torque controlled robot platform, Roboray. Experimental results show that gaits are able to traverse inclined and rough terrains with bounded variations, and the result gaits are human like comparing the conventional knee bent walkers.
2012 IEEE International Conference on Robotics and Automation