Standing balance maintenance by virtual suspension model control for legged robot

摘要

Legged robots demand to keep the balance under required durations when performing standing and locomotion. It may be a challenge for legged robots to maintain balance during standing without actuation from ankle joints and involvement of support polygon plane to estimate the center of mass (CoM). In order to maintain the standing balance of legged robots under such a scenario, we propose a virtual suspension model control (VSMC) method which is concise and can get rid of updating model iterations on sophisticated dynamics. Furthermore, we optimize the range and propose the criteria for the virtual height of the CoM for quickly adjusting parameters and adapting to task characteristics. Simulation experiments on balance keeping are performed for single-leg robot vertical standing, quadruped robot diagonal standing and biped robot parallel standing cases, and the proposed method can achieve promising results within the approximative real setting condition that demonstrate the feasibility and strong anti-interference ability of the VSMC approach.