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Control design to achieve dynamic walking on a bipedal robot with compliance

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7 Author(s)
Bokman Lim ; Samsung Adv. Inst. of Technol., Yongin, South Korea ; Minhyung Lee ; Joohyung Kim ; Jusuk Lee
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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.

Published in:

Robotics and Automation (ICRA), 2012 IEEE International Conference on

Date of Conference:

14-18 May 2012