The humanoid robot, one of the ideal unmanned systems, has the potential to perform tasks currently carried out by human workers in industry, manufacturing, service, and disaster response. In such complicated environments with unknown disturbances, compliance is important for a humanoid robot, especially a position-controlled one, to maintain balance while performing a task. This article presents a dynamic torso compliance method for position-controlled humanoid robots to adapt to unknown external disturbances while standing or walking. This method comprises two independent controllers. One controller, which is based on a linear inverted pendulum with a flywheel, is used to realize compliant behavior by controlling the torso postures according to the zero moment point. The other controller, which is based on a double inverted pendulum, is adopted to obtain the dynamic torso movements as well as maintain balance through a quadratic-programming-based controller. With the proposed method, controls for compliance and balance are decoupled, and a position-controlled robot can perform dynamic torso compliance and maintain balance while standing or walking. The performance of the proposed method is validated by simulations and experiments on a position-controlled humanoid robot (BHR-T).

中文翻译：

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用于位置控制的类人机器人站立和行走平衡的动态躯干顺应性控制

类人机器人是理想的无人系统之一，具有执行人员目前在工业，制造，服务和灾难响应方面执行的任务的潜力。在这种未知干扰的复杂环境中，柔韧性对于类人机器人（尤其是位置控制的机器人）在执行任务时保持平衡至关重要。本文提出了一种动态的躯干顺应性方法，用于位置控制的类人机器人，以适应站立或行走时未知的外部干扰。该方法包括两个独立的控制器。一个控制器基于带飞轮的线性倒立摆，用于通过根据零力矩点控制躯干姿势来实现顺从行为。另一个基于双倒立摆的控制器，通过基于二次编程的控制器来获得动态躯干运动并保持平衡。利用所提出的方法，使顺应性和平衡控制分离，并且位置控制机器人可以执行动态躯干顺应性，并在站立或行走时保持平衡。通过在位置控制人形机器人（BHR-T）上的仿真和实验验证了所提方法的性能。