A Unified Control Framework for High-Dynamic Motions of Biped Robots

作者：Chencheng Dong, Xuechao Chen, Zhangguo Yu, Yuanxi Zhang, Huanzhong Chen, Qingqing Li, Qiang Huang · 年份：2021 · DOI：10.1109/icarm52023.2021.9536066 · 被引用次数：10 · 研究领域：Robotic Locomotion and Control、Prosthetics and Rehabilitation Robotics、Soil Mechanics and Vehicle Dynamics

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.