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

Wang, Zhen1; Kou, Lei2; Ke, Wende1; Chen, Yuhan1; Bai, Yan1; Li, Qingfeng3; Lu, Dongxin3

2023-03-01

10.3390/biomimetics8010126

BIOMIMETICS   影响因子和分区

2313-7673

At present, the research and application of biped robots is more and more popular. The popularity of biped robots can be better promoted by improving the motion performance of low-cost biped robots. In this paper, the method of the Linear Quadratic Regulator (LQR) is used to track a robot's center of mass (COM). At the same time, the whole-body-control method and value function generated in the process of tracking COM are used to construct the quadratic programming (QP) model of a biped robot. Through the above method, the torque feedforward of the robot is obtained in the Drake simulation platform. The torque feedforward information of the robot is transformed into position feedforward information by spring compensation. In this paper, open loop control and spring compensation are used, respectively, to make the robot perform simple actions. Generally, after the compensation method of spring compensation is adopted, the roll angle and pitch angle of the upper body of the robot are closer to 0 after the robot performs an action. However, as the selected motion can introduce more forward and lateral motions, the robot needs more spring clearance compensation to improve performance. For improving the motion performance of a low-cost biped robot, the experimental results show that the spring compensation method is both reasonable and effective.

spring compensation linear quadratic regulator whole body control spring clearance compensation

SCI

英语

第一 ; 通讯

Project of Guangdong Education Bureau which involves the graduate training of government, university, and enterprise by the Southern University of Science and Technology-Leju (Shenzhen) Robotic Corporation[Y01331833] ; null[LGF20F020009] ; null[2020C03107]

Engineering ; Materials Science

Engineering, Multidisciplinary ; Materials Science, Biomaterials

WOS:000957191800001

MDPI

Web of Science

1.Southern Univ Sci & Technol, Dept Mech & Energy Engn, Shenzhen 518055, Peoples R China
2.Qilu Univ Technol, Inst Oceanog Instrumentat, Shandong Acad Sci, Qingdao 266075, Peoples R China
3.Hangzhou Normal Univ, Hlth Management Syst Engn Ctr, Sch Publ Hlth, Hangzhou 311121, Peoples R China

Wang, Zhen,Kou, Lei,Ke, Wende,et al. A Spring Compensation Method for a Low-Cost Biped Robot Based on Whole Body Control[J]. BIOMIMETICS,2023,8(1).

Wang, Zhen.,Kou, Lei.,Ke, Wende.,Chen, Yuhan.,Bai, Yan.,...&Lu, Dongxin.(2023).A Spring Compensation Method for a Low-Cost Biped Robot Based on Whole Body Control.BIOMIMETICS,8(1).

Wang, Zhen,et al."A Spring Compensation Method for a Low-Cost Biped Robot Based on Whole Body Control".BIOMIMETICS 8.1(2023).