Position/force control of biped locomotion systems

Silva, Filipe M.; Tenreiro Machado, J. A.

http://hdl.handle.net/10400.22/13398

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Authors

Silva, Filipe M.

Tenreiro Machado, J. A.

Abstract(s)

This paper addresses the problem of modelling and control of a biped robot by combining Cartesian-based position and force control algorithms. The walking cycle is divided in two phases: sinlge support, in which one leg is in contact with the ground and the other leg swings foward, and double support, in which the foward leg absorbs the impact and gradually accepts the robot's weight. The contact of the foot with the constrained surface is modelled through linear spring-damper systems. The proposed control approach is based on simple motion goals taking into account the reaction forces between the feet and the ground. The control algorithm is tested through several experiments and its effectiveness and robustness is discussed.