Hybrid Momentum Compensation Control by Using Arms for Bipedal Dynamic Walking
Biped robots swing their legs alternately to achieve highly dynamic walking, which is the basic ability required for them to perform tasks. However, swinging of the swinging leg in the air will disturb the interaction between the supporting leg and the ground and affect the upper body’s balance duri...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-01-01
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| Series: | Biomimetics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2313-7673/8/1/31 |
| _version_ | 1797613262180712448 |
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| author | Zhifa Gao Xuechao Chen Zhangguo Yu Lianqiang Han Jintao Zhang Gao Huang |
| author_facet | Zhifa Gao Xuechao Chen Zhangguo Yu Lianqiang Han Jintao Zhang Gao Huang |
| author_sort | Zhifa Gao |
| collection | DOAJ |
| description | Biped robots swing their legs alternately to achieve highly dynamic walking, which is the basic ability required for them to perform tasks. However, swinging of the swinging leg in the air will disturb the interaction between the supporting leg and the ground and affect the upper body’s balance during dynamic walking. To allow the robot to use its own intrinsic motion characteristics to maintain stable movement like a human when its lower limbs are affected by unknown disturbances during dynamic walking, the ability to use its arms to resist disturbances is essential. This article presents a hybrid momentum compensation control method for torque-controlled biped robots to adapt to unknown disturbances during dynamic walking. First, a hybrid angular momentum and linear momentum regulator is designed to compensate for the disturbance caused by the swinging leg. Second, based on real-time dynamic state changes of the legs, a mixed-momentum quadratic programming controller is designed to realize stable dynamic walking. The proposed method allows the force-controlled robot to maintain its balance while walking down an unknown platform, and it maintains good straightness in the forward direction of dynamic motion. The proposed method’s effectiveness is verified experimentally on the BHR-B2 force-controlled biped robot platform. |
| first_indexed | 2024-03-11T06:53:23Z |
| format | Article |
| id | doaj.art-426e10b3ad4d425dbba6a26517075b66 |
| institution | Directory Open Access Journal |
| issn | 2313-7673 |
| language | English |
| last_indexed | 2024-03-11T06:53:23Z |
| publishDate | 2023-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Biomimetics |
| spelling | doaj.art-426e10b3ad4d425dbba6a26517075b662023-11-17T09:49:17ZengMDPI AGBiomimetics2313-76732023-01-01813110.3390/biomimetics8010031Hybrid Momentum Compensation Control by Using Arms for Bipedal Dynamic WalkingZhifa Gao0Xuechao Chen1Zhangguo Yu2Lianqiang Han3Jintao Zhang4Gao Huang5School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, ChinaSchool of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, ChinaSchool of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, ChinaSchool of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, ChinaSchool of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, ChinaFaculty of Information Technology, Beijing University of Technology, 100 Pingleyuan, Chaoyang District, Beijing 100124, ChinaBiped robots swing their legs alternately to achieve highly dynamic walking, which is the basic ability required for them to perform tasks. However, swinging of the swinging leg in the air will disturb the interaction between the supporting leg and the ground and affect the upper body’s balance during dynamic walking. To allow the robot to use its own intrinsic motion characteristics to maintain stable movement like a human when its lower limbs are affected by unknown disturbances during dynamic walking, the ability to use its arms to resist disturbances is essential. This article presents a hybrid momentum compensation control method for torque-controlled biped robots to adapt to unknown disturbances during dynamic walking. First, a hybrid angular momentum and linear momentum regulator is designed to compensate for the disturbance caused by the swinging leg. Second, based on real-time dynamic state changes of the legs, a mixed-momentum quadratic programming controller is designed to realize stable dynamic walking. The proposed method allows the force-controlled robot to maintain its balance while walking down an unknown platform, and it maintains good straightness in the forward direction of dynamic motion. The proposed method’s effectiveness is verified experimentally on the BHR-B2 force-controlled biped robot platform.https://www.mdpi.com/2313-7673/8/1/31biped robotangular momentumjoint torque control |
| spellingShingle | Zhifa Gao Xuechao Chen Zhangguo Yu Lianqiang Han Jintao Zhang Gao Huang Hybrid Momentum Compensation Control by Using Arms for Bipedal Dynamic Walking Biomimetics biped robot angular momentum joint torque control |
| title | Hybrid Momentum Compensation Control by Using Arms for Bipedal Dynamic Walking |
| title_full | Hybrid Momentum Compensation Control by Using Arms for Bipedal Dynamic Walking |
| title_fullStr | Hybrid Momentum Compensation Control by Using Arms for Bipedal Dynamic Walking |
| title_full_unstemmed | Hybrid Momentum Compensation Control by Using Arms for Bipedal Dynamic Walking |
| title_short | Hybrid Momentum Compensation Control by Using Arms for Bipedal Dynamic Walking |
| title_sort | hybrid momentum compensation control by using arms for bipedal dynamic walking |
| topic | biped robot angular momentum joint torque control |
| url | https://www.mdpi.com/2313-7673/8/1/31 |
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