Contribution to the Integrated Control of （贡献的综合控制）.pdfVIP

Contribution to the Integrated Control of Artificial Human Gait Miomir K. Vukobratović, Aleksandar D. Rodić Mihajlo Pupin Institute, Robotics Department, Volgina 15, 11060 Belgrade, Serbia Montenegro vuk,roda@robot.imp.bg.ac.yu Abstract: The work is concerned with the integrated dynamic control of humanoid locomotion mechanisms based on the spatial dynamic model of humanoid mechanism, model of the servo-system and environment model. The control scheme was synthesized using the centralized model and the hierarchical principle, with two control levels – tactical and executive. The proposed structure of dynamic controller involves four feedback loops: position-velocity feedback of the robotic mechanism joints, dynamic reaction feedback around Zero-Moment Point, contact force feedback at the moment of the foot striking the ground and the load feedback at the mechanism joints. Simulation experiment was carried out for a characteristic example. On the basis of numerical results critical evaluation of the devised controller was carried out and the corresponding conclusions were derived. Keywards: Humanoid robots; biped locomotion; dynamically balanced gait; integrated dynamic control. 1 Introduction Studies in the area of humanoid robotics have recently made a remarkable progress, especially during the last decade. Suffices it to mention only a few of humanoid robots that have attracted great attention of professional community. Apart from such robots from HONDA family that are ready to replace humans in diverse situations, the light of day have recently seen their descendant ASIMO, dedicated primarly to imitation and entertainment. The mobility of ASIMO and its speed