@inproceedings{710ac7c8a86f4f038911a6ed79f9d375,
title = "Control design to achieve dynamic walking on a bipedal robot with compliance",
abstract = "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.",
author = "Bokman Lim and Minhyung Lee and Joohyung Kim and Jusuk Lee and Jaeho Park and Keehong Seo and Kyungshik Roh",
year = "2012",
doi = "10.1109/ICRA.2012.6224882",
language = "English (US)",
isbn = "9781467314039",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "79--84",
booktitle = "2012 IEEE International Conference on Robotics and Automation, ICRA 2012",
address = "United States",
note = " 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 ; Conference date: 14-05-2012 Through 18-05-2012",
}