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History of Robotics Research and Development of Japan2006LocomotionForce control technology for multi-legged robots and its application to compliant balancing, walking, and motion learning on biped humanoid robots

Sang-Ho HyonJST, ICORP, Computational Brain Project / ATR Computational Neuroscience Laboratories / National Institute of Information and Communication Technology
We proposed a practical contact force control framework for force-controllable legged robots with redundant joints, which is applicable to automatic/semi-automatic control for mobile robots, construction robots, bipedal humanoid robots, and assistive devices. The proposed method requires: 1) no contact forces measurements; 2) no inverse kinematics; 3) nor inverse dynamics in achieving the desired contact forces. Combined with a passivity-based redundancy resolution technique, a contact force closure is optimally solved and transformed directly into joint torques in real-time. Experimental results on a full-sized hydraulic biped humanoid robot show that the proposed method can simultaneously control the multiple contact forces without generating internal forces, and can naturally interact with unknown external forces.  
油圧駆動２足歩行型ヒューマノイドロボットCB-i
CB-i: Hydraulic Biped Humanoid Robot

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Video showing motion control of hydraulic biped humanoid robots

Correspondence papers

Sang-Ho Hyon：A Passivity-Based Optimal Contact Force Control for Humanoid Robots with Redundant Joints and Multiple Contact Points

Journal of the Robotics Society of Japan, Vol. 27, No. 2, pp. 178-187, 2009 (in Japanese).

Related papers

[1] Hyon, S. and Cheng, G., Passivity-based full-body force control for humanoids and application to dynamic balancing and locomotion, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.4915-4922, Beijing, China, 2006.

[2] Hyon, S. and Cheng, G., Gravity compensation and full-body balancing for humanoid robots, in Proceedings of IEEE-RAS International Conference on Humanoid Robots, pp.214-221, Genoa, Italy, 2006.

[3] Hyon, S. and Cheng, G., Disturbance rejection for biped humanoids, in Proceedings of IEEE International Conference on Robotics and Automation, pp.2668-2675, Roma, Italy, 2007.

[4] 玄相昊，Gordon Cheng, 冗長自由度を有する脚式ロボットの実用的な接触力制御手法とバランス制御への応用, 第25回日本ロボット学会学術講演会, 千葉, 2007.9.

[5] Hyon, S. and Cheng, G., Simultaneous adaptation to rough terrain and unknown external forces for biped humanoids, in Proceedings of IEEE-RAS International Conference on Humanoid Robots, Pittsburgh, USA, 2007.

[6] Hyon, S., Morimoto, J. and Cheng, G., Hierarchical motor learning and synthesis with passivity-based controller and phase oscillator, in Proceedings of IEEE International Conference on Robotics and Automation, Pasadena, USA, 2008, pp.2705-2710.

[7] 玄相昊, ヒューマノイドの姿勢制御に関する一考察 , 第26回日本ロボット学会学術講演会, 神戸, 2008.9, AC2J2-05.

[8] Sang-Ho Hyon, Jan Moren and Mitsuo Kawato, Toward humanoid batting: prediction and fast coordinated motion, 第26回日本ロボット学会学術講演会, 神戸, 2008.9, AC2J2-01.

[9] 玄相昊, 複数の接地部分と冗長関節を有するヒューマノイドロボットの受動性に基づく最適接触力制御, 日本ロボット学会誌, vol.27, no.2, pp.178-187, 2009.3.

[10] Hyon, S. Compliant terrain adaptation for biped humanoids without measuring ground surface and contact forces, IEEE Transactions on Robotics, vol.25, no.1, pp. 171-178, 2009.3.

[11] 玄相昊, 準静的に獲得した関節軌道を利用して動的な類似運動を逐次的に学習する方法, 日本ロボット学会誌, vol.27, no.9, pp.1025-1028, 2009.

[12] Hyon, S., A motor control strategy with virtual musculoskeletal systems for compliant anthropomorphic robots, IEEE/ASME Transactions on Mechatronics, vol.14, issue 6, pp.677-688, 2009.6.

[13] Hyon, S., Osu, R. and Otaka, Y., Integration of multi-level postural balancing on humanoid robots, IEEE International Conference on Robotics and Automation, Kobe, Japan, 2009, pp.1549-1556.

[14] Hyon, S., Morimoto, J. and Kawato, M., From compliant balancing to dynamic walking on humanoid robot: Integration of CNS and CPG, IEEE International Conference on Robotics and Automation, Anchorage, USA, 2010, pp.1084-1085.

[15] Hyon, S., Matsubara, T., Morimoto, J., Kawato, M., XoR: Hybrid drive exoskeleton robot that can balance, in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011.9, San Francisco, USA, pp.3975-3981.

[16] 玄相昊, 鈴木裕太, 末若大輔, 力仕事のパートナーとしてのコンパクト油圧式ロボット台車の提案, 建設施工と建設機械シンポジウム, 2012.11, 東京, pp.206-207.

[17] 西拓紀, 富永英介, 鳥居裕貴, 玄相昊, 油圧式４脚走行ロボットの床反力制御と姿勢制御, 第55回自動制御連合講演会, 2012.11, 京都, pp.727-730.

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