Hybrid force-motion control for one-legged robot in operational space
Adak, Ömer Kemal and Bahçeci, Beste and Erbatur, Kemalettin (2021) Hybrid force-motion control for one-legged robot in operational space. In: 2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) (AIM 2021), Online (Delft, Netherlands)
Official URL: http://dx.doi.org/10.1109/AIM46487.2021.9517455
This paper presents a dynamic locomotion generation for a one-legged floating-base robot. Reference synthesis is performed by planning both swing motion of the foot and contact forces acting from the ground. A fifth-order polynomial is employed as the position reference to reduce the impact forces and ensure a steady transition between the swing and stance phases. Contact force references are designed utilizing the laws of momentum conservation and impulse. A hybrid force-motion control framework is created in the operational space for tracking generated references. Gait phase transition is proposed to assist the transition between the force and motion controller. A full-dynamics simulation environment is utilized to test the proposed control framework. Results supported the competence of the proposed control framework for the floating-base one-legged robot.
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