TY - GEN
T1 - Biped walking control based on hybrid position/force control
AU - Buschmann, Thomas
AU - Lohmeier, Sebastian
AU - Ulbrich, Heinz
PY - 2009/12/11
Y1 - 2009/12/11
N2 - This paper describes a real-time walking control system developed for the biped robots JOHNNIE and LOLA. Walking trajectories are planned on-line using a simplified robot model and modified by a stabilizing controller. The controller uses hybrid position/force control in task space based on a resolved motion rate scheme. Inertial stabilization is achieved by modifying the contact force trajectories. The paper includes an analysis of the dynamics of controlled bipeds, which is the basis for the proposed control system. The system was tested both in forward dynamics simulations and in experiments with JOHNNIE.
AB - This paper describes a real-time walking control system developed for the biped robots JOHNNIE and LOLA. Walking trajectories are planned on-line using a simplified robot model and modified by a stabilizing controller. The controller uses hybrid position/force control in task space based on a resolved motion rate scheme. Inertial stabilization is achieved by modifying the contact force trajectories. The paper includes an analysis of the dynamics of controlled bipeds, which is the basis for the proposed control system. The system was tested both in forward dynamics simulations and in experiments with JOHNNIE.
UR - https://www.scopus.com/pages/publications/76249112506
U2 - 10.1109/IROS.2009.5354643
DO - 10.1109/IROS.2009.5354643
M3 - Conference contribution
AN - SCOPUS:76249112506
SN - 9781424438044
T3 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
SP - 3019
EP - 3024
BT - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
T2 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Y2 - 11 October 2009 through 15 October 2009
ER -