This paper is aimed at presenting a locomotion control framework to realize agile and robust locomotion behaviors on conventional stiff-by-nature legged robots. First, a trajectory generator that is capable of characterizing angular momentum is utilized to synthesize reference CoM trajectories and associated force inputs, in accordance with the target locomotion profile. Second, the controller evaluates both force and position errors in the joint level, using a servo controller and an admittance control block. The trade-off between the position and force errors is naturally adjusted via admittance control coefficients. Implementing the controller on a 4-link, 3-jointed one-legged robot, we conducted several balancing and running experiments under challenging conditions; e.g., balancing on a moving cart, balancing on a surface with varying orientation, running on a flat surface, running on an inclined surface. The experimental study results indicated that the locomotion controller enabled the robot to perform untethered one-legged running and to maintain its balance when subject to disturbances.

本文旨在提出一种运动控制框架，以在传统的天生僵硬的腿式机器人上实现敏捷和鲁棒的运动行为。首先，根据目标运动轮廓，利用能够表征角动量的轨迹生成器来合成参考 CoM 轨迹和相关的力输入。其次，控制器使用伺服控制器和导纳控制块评估关节水平的力和位置误差。位置误差和力误差之间的权衡自然通过导纳控制系数进行调整。在 4 连杆、3 关节单腿机器人上实施控制器，我们在具有挑战性的条件下进行了多次平衡和跑步实验；例如，在移动的推车上保持平衡，在不同方向的表面上保持平衡，在平坦的表面上运行，在倾斜的表面上运行。实验研究结果表明，运动控制器使机器人能够进行无绳单腿跑步，并在受到干扰时保持平衡。