Control of torque distribution for the BLR-G2 biped robot

Abstract

Human walking is realized by repeating two motions called single-support phase and double-support phase. The authors consider walking control in the double-support phase. During the double-support phase, there are numerous combinations of the joint torques and floor reaction forces which realize the same trajectory of motion since the number of actuators which drive the articular joints is more than the number of degrees of freedom left in the link system. Although this makes control in the double-support phase complicated, it enables sophisticated control by utilizing the redundancy of the input. The authors study the control of the torque distribution, and show that smooth motion during the double-support phase can be achieved by properly distributing the joint torque.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>