ABSTRACT This paper describes an experimental comparison of force control methods, including resolved acceleration control (RAC), joint position control (JPC), and resolved viscoelasticity control (RVC), focusing on the biped walking performance. In previous studies, we reported a stable biped walking using the JPC and RVC methods on a hydrostatically driven humanoid, Hydra. All joints of Hydra are actuated by electro-hydrostatic actuators, showing the high backdrivability and force-controllability. However, we did not realize the RAC on Hydra, which is a standard method in state-of-the-art humanoid robotics. It is the first time that we have reported the RAC method realized a biped walking on Hydra. Moreover, the comparison between three methods is presented. GRAPHICAL ABSTRACT

中文翻译：

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基于力敏液压仿人的双足行走力控制方法比较研究

摘要 本文描述了力控制方法的实验比较，包括解析加速度控制 (RAC)、关节位置控制 (JPC) 和解析粘弹性控制 (RVC)，重点是两足步行性能。在之前的研究中，我们报告了使用 JPC 和 RVC 方法在静水驱动的人形机器人 Hydra 上实现稳定的两足行走。Hydra 的所有关节均由静液压致动器驱动，具有较高的反向驱动性和力可控性。然而，我们并没有在 Hydra 上实现 RAC，这是最先进的人形机器人技术中的标准方法。这是我们第一次报道 RAC 方法在 Hydra 上实现双足行走。此外，还介绍了三种方法之间的比较。图形概要