Balance and Walking Control for Biped Robot Based on Divergent Component of Motion and Contact Force Optimization

Shuai Heng (), Xizhe Zang, Chao Song, Boyang Chen (), Yue Zhang, Yanhe Zhu and Jie Zhao
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Shuai Heng: State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China
Xizhe Zang: State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China
Chao Song: State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China
Boyang Chen: State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China
Yue Zhang: State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China
Yanhe Zhu: State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China
Jie Zhao: State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China

Mathematics, 2024, vol. 12, issue 14, 1-17

Abstract: This paper presents a complete planner and controller scheme to achieve balance and walking for a biped robot, which does not need to distinguish the robot’s dynamic model parameters. The high-level planner utilizes model predictive control to optimize both the foothold location and step duration based on the Divergent Component of Motion (DCM) model to enhance the robustness of generated gaits. For low-level control, we use quadratic programming (QP) to optimize the contact force distribution under the contact constraints to achieve the virtual wrench exerted on the base of the robot. Then, the joint torques sent to the robot are derived from three parts: first, the torques mapped from the contact force; second, the swing leg tracking; and third, the stance foot stabilization. The simulation and experiment on BRUCE, a miniature bipedal robot from Westwood Robotics (Los Angeles, CA, USA), testify to the performance of the control scheme, including push recovery, Center of Mass (CoM) tracking, and omnidirectional walking.

Keywords: biped robot; divergent component of motion; contact force optimization (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2024
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