Towards natural bipedal walking: Virtual gravity compensation and capture point control

Keehong Seo, Joohyung Kim, Kyungshik Roh

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

To achieve dynamic balancing and natural walking for a bipedal robot we propose a novel force-based control framework. Given 6-dimensional pose vector representing robot's posture and attitude, desired force and moment in the task space are computed. To generate the force and moment as desired, we propose the use of virtual gravity compensation (VGC), essentially a dynamic controller that outputs joint torques. By using the VGC-based balancing controller, the robot can maintain a desired pose stably even on a tilting plate. We also propose to extend the VGC-based balancing controller to implement a walking algorithm that controls the desired pose in terms of capture point using a finite state machine. The control algorithm was tested with torque-controlled humanoid platforms developed by our group to demonstrate robust and natural gaits under various walking environments. The robot walked robustly on irregular surfaces and recovered from external pushes. The robot also exhibited natural walking motions such as pendulum-like leg swings and heel-to-toe transitions, a characteristic feature of human gait, all without explicitly designating joint angle trajectories.

Original languageEnglish (US)
Title of host publication2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
Pages4019-4026
Number of pages8
DOIs
StatePublished - Dec 1 2012
Externally publishedYes
Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal
Duration: Oct 7 2012Oct 12 2012

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
CountryPortugal
CityVilamoura, Algarve
Period10/7/1210/12/12

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Seo, K., Kim, J., & Roh, K. (2012). Towards natural bipedal walking: Virtual gravity compensation and capture point control. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012 (pp. 4019-4026). [6385902] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2012.6385902