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Summary: Modeling and Control of Periodic Humanoid
Balance using the Linear Biped Model
Benjamin Stephens
Carnegie Mellon University
Pittsburgh, PA 15213, USA
Email: bstephens@cmu.edu
Christopher Atkeson
Carnegie Mellon University
Pittsburgh, PA 15213, USA
Email: cga@cmu.edu
Abstract--We present work on compliant control of dynamic
humanoid balance and walking. We use the Linear Biped Model
(LiBM) to model the dynamics of balance on two feet. To
achieve periodic motion, as in walking, we derive an orbital
energy controller for this model. We also present our methods
for applying this control to a torque-controlled humanoid robot,
which include estimating the center of mass state and generating
feed-forward torque commands.
I. INTRODUCTION
Humanoid robots are complex systems that are often studied
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