Movement of bipedal robot based on Whole Body Control

摘要

In order to make biped robot act more precisely and complicated, the method of linear quadratic regulator tracking center of mass of robot and the whole biped robot modeling process based on Whole Body Control algorithm are analyzed. Through the floating base dynamics function, friction cone model and QP formulation, the Roban robot squat is completed based on the drake simulation platform. It is proved that the control method is also effective on Roban robot.