Control of Torque Distribution in Biped Systems during Double-Support Phase

Abstract

A force distribution in locomotion systems containing closed kinematic chains is a difficult problem since a degree of freedom of the systems is reduced by certain holonomic constraints. Control of the force distribution in biped locomotion robot during double-support phase is discussed in this paper.Inequality constraints on reaction forces are considered, in addition to equality constraints which specify desired trajectories of some joints of the biped locomotion system. Minimizing consumption of joint torques under these constraints is used to obtain a proper distribution of input torques. We put an angular momentum of the locomotion system close to reference function given in advance by using this torque distribution method which prevents the foots from any slipping and the soles from any lifting. The effectiveness of the proposed control method was examined by experiments with our BLR-G2 walking robot.