Whole-Body Control Based on Landing Estimation for Fixed-Period Bipedal Walking on Stepping Stones

Abstract

This paper presents a control framework based on the landing estimation method. We applied a novel landing criterion based on the flywheel inverted pendulum model to stabilize the robot at a given landing point. We also analyze the effect of the support torque and the centroidal angular momentum on the landing criterion to construct the fixed-period task for fixed period walking. The fixed-period task is a cumulative task, which is introduced into the control system to reduce its dependence on the tracking of COM trajectory. The control tasks, including fixed-period task, is carried out through the whole-body control frame, which adopt the optimization method to calculate the viable joint torque under the walking constraints. We verified the capabilities of the proposed controller in a planar simulation with the stepping-stone terrain.