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Balance Control Strategy of Biped Walking Robot SUBO-1 Based on Force-Position Hybrid Control
International Journal of Precision Engineering and Manufacturing ( IF 2.6 ) Pub Date : 2020-12-02 , DOI: 10.1007/s12541-020-00438-1
Hyo-Joon Lee , Jung-Yup Kim

This paper deals with a balance control strategy based on a force-position hybrid control of biped walking robot, SUBO-1 for stable walking on irregular terrain environments. Walking robots basically require the position control of the leg to accurately land the swing foot on the correct position. Also, they need a force-based balance control to prevent them from falling over on irregular terrain. This study derives the location of the Zero Moment Point (ZMP) to control the Capture Point (CP) for keeping balance of the robot, and additionally obtains the total vertical force required for both feet to maintain the desired height of the Center of Mass (CoM). The vertical force, roll and pitch moments of each foot that optimally satisfies the derived ZMP and the total vertical force of the both feet, are calculated through the Quadratic Programming (QP). To realize the vertical force, roll and pitch moments of each foot, a feedforward control using Jacobian and a PI control using a force/torque sensor at the foot are used simultaneously, and the horizontal forces and yaw moment of each foot are used in Task-Space PD control for positioning of foot. Finally, the proposed method is verified through balance control experiments in double support and single support phases using the biped walking robot, SUBO-1 in the presence of external force and varying ground slope



中文翻译:

基于力-位置混合控制的两足步行机器人SUBO-1的平衡控制策略

本文研究了一种基于力-位混合控制的两足步行机器人SUBO-1的平衡控制策略,以在不规则地形环境下稳定行走。行走机器人基本上需要对腿部进行位置控制,以将摆脚准确地放到正确的位置上。同样,他们需要基于力的平衡控制,以防止他们跌落在不规则的地形上。这项研究得出了零力矩点(ZMP)的位置来控制捕获点(CP)以保持机器人的平衡,并另外获得了两只脚保持所需的质心高度所需的总垂直力( CoM)。每只脚的垂直力,侧倾和俯仰力矩最理想地满足导出的ZMP和两只脚的总垂直力,通过二次规划(QP)计算。为了实现每只脚的垂直力,侧倾和俯仰力矩,同时使用了使用雅可比行进的前馈控制和使用力/扭矩传感器的PI控制,并且在Task中使用了每只脚的水平力和偏航力矩-Space PD控制,用于定位脚。最后,在存在外力和变化的地面坡度的情况下,使用两足步行机器人SUBO-1通过双支撑和单支撑阶段的平衡控制实验对提出的方法进行了验证。在Task-Space PD控制中,将每只脚的水平力和偏航力矩用于脚的定位。最后,在存在外力和变化的地面坡度的情况下,使用两足步行机器人SUBO-1通过双支撑和单支撑阶段的平衡控制实验对提出的方法进行了验证。在Task-Space PD控制中,将每只脚的水平力和偏航力矩用于脚的定位。最后,在存在外力和变化的地面坡度的情况下,使用两足步行机器人SUBO-1通过双支撑和单支撑阶段的平衡控制实验对提出的方法进行了验证。

更新日期:2020-12-02
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