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A Spring Compensation Method for a Low-Cost Biped Robot Based on Whole Body Control.

Zhen Wang1, Lei Kou2, Wende Ke1

  • 1Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China.

Biomimetics (Basel, Switzerland)
|March 28, 2023
PubMed
Summary
This summary is machine-generated.

Improving low-cost biped robot motion performance is key. Spring compensation effectively stabilizes the robot

Keywords:
linear quadratic regulatorspring clearance compensationspring compensationwhole body control

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Area of Science:

  • Robotics
  • Control Systems
  • Mechatronics

Background:

  • Biped robot research and application are increasingly popular.
  • Enhancing motion performance of low-cost biped robots is crucial for wider adoption.
  • Existing control methods may not adequately address stability in dynamic movements.

Purpose of the Study:

  • To improve the motion performance of low-cost biped robots.
  • To evaluate the effectiveness of spring compensation for robot stability.
  • To develop a control strategy for stable bipedal locomotion.

Main Methods:

  • Linear Quadratic Regulator (LQR) for center of mass (COM) tracking.
  • Whole-body control and value function to construct a quadratic programming (QP) model.
  • Torque feedforward generation in the Drake simulation platform and spring compensation for position feedforward.

Main Results:

  • Spring compensation method brings the upper body's roll and pitch angles closer to zero after actions.
  • The method shows effectiveness in stabilizing robots during simple actions.
  • Further spring clearance compensation is needed for complex motions involving forward and lateral movements.

Conclusions:

  • The spring compensation method is a reasonable and effective approach for enhancing biped robot motion performance.
  • This technique contributes to improving the stability and control of low-cost biped robots.
  • Further research into spring compensation for complex dynamic motions is warranted.