Balancing a Bipedal Robot using Active Compliance Control
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As humanoid robots are interacting with their environment, maintaining balance in the presence of external forces/torques is a key objective for bipedal robots. Due to the unilateral contact between the feet and the ground the contact forces and torques are restricted depending on the geometry and the friction behavior of the contact area. For experiments and simulations the biped prototype from Fig. 1 developed at the Institute for Robotics from the Johannes Kepler University (JKU) is considered. The robot features 14 degrees of freedom, has a weight of around 52kg and is about 1.65m tall. The joints are driven by EC-motors with harmonic drive gears. As feedback the motor-side position and the motor current are available.