The challenge for legged robots, especially bipeds, is to maintain postural stability while walking around, whatever the state of the surface the robot is walking on. A possible overall control structure required to steer a biped is shown in schematic overview, depicting several essential control blocks (figure 3.1). A task manager commands the robot to execute a particular task at a specific moment. Depending on the current global robot position and information about its direct environment, a gait planner produces specific objectives for the global robot motion. According to these objectives, while taking into account the biped’s configuration, a joint trajectory generator calculates desired trajectories for each joint of the robot.
KeywordsGround Reaction Force Humanoid Robot Inverted Pendulum Support Phase Trajectory Generator
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