Movement of bipedal robot based on Whole Body Control

Wang，Zhen1,2; Chen，Yuhan1,2; Bai，Yan1,2; Hu，Chengzhi1,2; Ke，Wende1,2

10.1109/CBS55922.2023.10115385

2023

978-1-6654-9029-0

2022 IEEE International Conference on Cyborg and Bionic Systems, CBS 2022

320-325

24-26 March 2023

Wuhan, China

In order to make biped robot act more precisely and complicated, the method of linear quadratic regulator tracking center of mass of robot and the whole biped robot modeling process based on Whole Body Control algorithm are analyzed. Through the floating base dynamics function, friction cone model and QP formulation, the Roban robot squat is completed based on the drake simulation platform. It is proved that the control method is also effective on Roban robot.

biped robot Linear Quadratic Regulator Quadratic Programming Whole Body Control

第一 ; 通讯

英语

CPCI-S ; EI

WOS:000995252700055

20232114139131

Robot programming ; Simulation platform

Computer Programming:723.1 ; Computer Applications:723.5 ; Robotics:731.5

2-s2.0-85159789559

Scopus

1.Southern University of Science and Technology,Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems,Department of Mechanical and Energy Engineering,Shenzhen,518055,China
2.Guangdong Prov. Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities,Southern University of Science and Technology,Shenzhen,518055,China

Wang，Zhen,Chen，Yuhan,Bai，Yan,et al. Movement of bipedal robot based on Whole Body Control[C],2023:320-325.