7 accepted papers
Vision aided dynamic exploration on bipedal robots poses an integrated challenge for perception and control. Rapid walking motions as well as the vibrations caused by the landing-foot contact-force introduce critical uncertainty in the visual-inertial system, which can cause the robot to misplace it…
This paper proposes a novel algorithm for joint space position/torque hybrid control of a mammal-type quadruped robot. With this control algorithm, the robot demonstrated both dynamic locomotion and push reaction abilities without the need for torque control in the ab/ad joints. Based on the tipping…
This paper introduces an obstacle-avoiding algorithm for bipedal robots, especially in push recovery situations. Typically, There are many algorithms that plan footstep to avoid obstacles based on vision recognition data. However, if the robot is pushed, the planned footprint will change, and thus,…
This work proposes a humanoid robot center of mass (COM) estimation framework based on the compliant inverted pendulum model and the robust estimator. Humanoids' limited structural stiffness and relatively long legs result in undesired flexibility, and this undesired motion hinders the state estimat…
Most state-of-the-art torque control-based legged robots show excellent performance, exceeding that of conventional position control-based robots. Many conventional position control-based legged robots have high gear ratios, but do not have joint torque sensors. In addition, some robots cannot gener…
In this paper, a current control scheme for the brushless DC (BLDC) motor is proposed. In order to estimate the phase current, it employs the adaptive extended Kalman filter (EKF) and measurement of a single DC link current. When estimating the motor phase current, measurement of a single DC link cu…
In this paper we introduce a biped foot placement controller based on capture point (CP) feedback control. This capture point feedback controller generates desired Zero Moment Point (ZMP) according to current capture point error. We call this desired ZMP as Control-ZMP (cZMP). Using this cZMP, we co…