Model based control of a biped robot

摘要

The control scheme of the anthropomorphic biped robot "Johnnie" is based on a comprehensive mechanical model. In order to perform a dynamically stable motion, the robot is equipped with a comprehensive set of sensors that allow to determine the complete state of the system. Since there are still unknown parameters in a real environment, a method is presented to adapt the trajectories in case of major disturbances. A mapping scheme allows to control the orientation of the upper body throughout all phases of the gait pattern. Furthermore, a sophisticated measurement and control of the foot torques has been implemented.