SUMMARYIn this research, we propose a two-level control strategy for simultaneous gait generation and stable control of planar walking of the Assume The Robot Is A Sphere (ATRIAS) biped robot with unlocked torso, utilizing active spring-loaded inverted pendulum (ASLIP) as reference models. The upper level consists of an energy-regulating control calculated using the ASLIP model, producing reference ground reaction forces (GRFs) for the desired gait. In the lower level controller, PID force controllers for the motors ensure tracking of the reference GRFs for ATRIAS direct dynamics. Meanwhile, ATRIAS torso angle is controlled stably to make it able to follow a point mass template model. Advantages of the proposed control strategy include simplicity and efficiency. Simulation results using ATRIAS’s complete dynamic model show that the proposed two-level controller can reject initial condition disturbances while generating stable and steady walking motion.

中文翻译：

---

基于两级控制策略的双足步行SLIP控制

摘要在这项研究中，我们提出了一种两级控制策略，用于同时产生步态和稳定控制假设机器人是一个球体（ATRIAS）双足机器人的躯干解锁，利用主动弹簧加载倒立摆（ASLIP）作为参考模型。上层由使用 ASLIP 模型计算的能量调节控制组成，产生所需步态的参考地面反作用力 (GRF)。在较低级别的控制器中，电机的 PID 力控制器确保跟踪 ATRIAS 直接动态的参考 GRF。同时，稳定控制ATRIAS躯干角度，使其能够遵循点质量模板模型。所提出的控制策略的优点包括简单和高效。