Comparative Analysis of Control Methods for Walking Robots with Nonlinear Sensors

摘要

In this paper, control of a bipedal walking robot is considered. There are a number of algorithms that had been successfully applied to legged systems. In this work, we compare and analyze three such controllers: computed torque controller, linear quadratic regulator and a quadratic programming-based controller. Specific attention is given to the influence of sensing inaccuracies on the performance of the robot's control system. The study covers the cases when a state observer is used to compensate for sensor inaccuracies, as well as the cases when there are significant joint torque limits.