Real-time Dynamics Compensation with Considering Ground Reaction Force and Moment Limit for Biped Robot

摘要

In this paper we propose a dynamics error compensation method for the approximate gait in which the vertical ground reaction force varies such as a running gait. In this method, the dynamics error of the original gait is calculated as the moment of the ground reaction force about the target ZMP by using a more precise dynamics model. The allowable ranges of the horizontal ground reaction force and the ground reaction moment about the target ZMP is determined according to the vertical ground reaction force. The horizontal position and inclination of the torso are modified to reduce the dynamics error as well as to satisfy the allowable ranges using an inverted pendulum model and a flywheel model. The approximate gait is modified to have the total center of mass follow parabolic motion while conserving the angular momentum about the center of mass, by just setting both allowable ranges to [0,0] during the flight phase. The effect of the proposed method is shown by the simulation and experiment of ASIMO running.