Cooperative Biped Locomotion Control Based on the Posture of Supporting Leg
Shigeyasu KAWAJI, Ken'ichi OGASAWARA
Stable biped locomotion is realized under cooperation between motions on frontal plane and on sagittal plane. Therefore, regulating motion on frontal plane has much effect on stabilizing locomotion. However, few discussions about motion control on frontal plane have been taking place. We propose cooperative control that regulates motion on frontal plane so that the cooperation may be kept. In the method, motion on frontal plane is approximated with an inverted pendulum model, and interference of motion on sagittal plane with that on frontal plane is regarded as external force. Then, compliance controller on frontal plane is designed to achieve cooperative control objective that is set up based on ZMP criterion. The compliance controller and the rhythm-correction feedback control system proposed by S. Kawaji et al. [13, 14] are integrated into cooperative biped locomotion control system. The effectiveness of the system in stabilizing locomotion was verified through a locomotion simulation.