Walking Control Algorithm of the 5-link robot based on Operational Space Control

Title
Walking Control Algorithm of the 5-link robot based on Operational Space Control
Authors
오용환이종우민 낫 부
Keywords
5-link biped robot; Balance; Operational space control; bipedal walking control; compliant leg; reduced-order walking model
Issue Date
2017-08
Publisher
International Conference on Mechatronics and Automation (ICMA)
Citation
-1537
Abstract
This paper presents the control strategy for 5-link biped robot consisting of an underactuated floating trunk and rigid legs. Controlling legged system is challenging due to the underactuated floating bases and the dynamic changes of contact states. Our main contributions are as follows: 1) formulating the desired end-effector force for achieving the balance of trunk while walking and 2) applying the operational space control(OSC) to the walking model which is constrained and underactuated. Overall, we present the dynamical simulation under random initial state and the force disturbances to validate the performance of control strategy, regarding stabilizing the floating trunk and maintaining the walking gait.
URI
http://pubs.kist.re.kr/handle/201004/66872
Appears in Collections:
KIST Publication > Conference Paper
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