Virtual-model-based compliance control for pushing recovery of position controlled humanoid robots

• Main Authors: Chen, Huanzhong, Huang, Gao, Li, Qingqing, Chen, Xuechao, Yu, Zhangguo, Huang, Qiang
• Format: Conference Proceeding
• Language: English
• ISSN: 2162-7576
• DOI: 10.1109/ARSO46408.2019.8948772

Motion of humanoid robots in human environments is subject to various unknown disturbances. Standing and walking in such environments, especially under unknown external disturbances, has always been a problem. We hope to achieve full-body compliance control for pushing recovery of position controlled humanoid robots under unknown disturbances. So, we propose a compliance controller for standing maintenance based on virtual model control. The controller uses the concept of impedance and admittance control. An AMPM (Angular Momentum inducing inverted Pendulum Model)-based virtual model with variable gain is adopted to generate the recovery force while a viscoelasticity-based admittance controller is used to apply the recovery force to the desired trajectory, which could be adjusted to meet the performance of the robot. Simulations in V-REP by exerting external force demonstrate the effectiveness and robustness of our method.