Balancing and Walking Control for a Torque-controlled Humanoid Robot
نویسندگان
چکیده
Samsung Electronics Co., Ltd. has been developing humanoid robots for years. Roboray, the latest developed humanoid robot in Fig. 1, has many different characteristics from the previous robots, e.g. Mahru series [1]. The main difference is that Roboray can be torque-controlled with torque sensors at all joints in the lower limbs. There exist some released biped robots which have torque/force controlled joints, like DLR biped [2], M2V2 [3], CB [4], and PETMAN. These robots showed their good performance on balancing, push recovery, stepping or walking on uneven terrain, and so on. In this study, we have tried several new ideas and developed walking and balancing algorithms for Roboray. Therefore, the purpose of this paper is to introduce one of our walking algorithms, which shows the characteristic of torque-controlled hardware well.
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