Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Walking Control Using Phase Plane of a Hydraulic Biped Humanoid Robot

위상평면을 이용한 유압식 이족 휴머노이드 로봇의 보행제어

  • 최동일 (한국과학기술원 기계공학과) ;
  • 김정훈 (연세대학교 토목환경공학과) ;
  • 김정엽 (국립서울과학기술대학교 기계설계자동화공학부)
  • Received : 2010.07.05
  • Accepted : 2011.01.24
  • Published : 2011.03.01
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Abstract

This paper proposes a novel control method using phase plane for a hydraulic biped humanoid robot. In biped walking control, it is much more difficult to control the posture of a biped robot in the coronal plane because the supporting area formed by the both feet in the coronal plane is much narrower than that of the sagittal plane. When the biped robot walks stably, the phase portrait of the pelvis in the coronal plane makes an elliptical shape. From this point of view, we develop an ankle torque controller and a foot placement controller for tracking the desired phase portrait during walking. We design these controllers by using simulations of a simplified compass gait biped model to regulate the desired phase portrait of pelvis. The effectiveness of the proposed control method is proved through full-body dynamic walking simulations and real experiments of the SARCOS hydraulic biped humanoid.

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References

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